pyrobot/0000775000076400007640000000000010274320624013276 5ustar dblankdblank00000000000000pyrobot/README0000775000076400007640000000021210247451650014160 0ustar dblankdblank00000000000000Pyrobot README File ---------------- Please see http://PyroRobotics.org/ for notes on installation, development, use, licensing, etc. pyrobot/engine/0000775000076400007640000000000010274320624014543 5ustar dblankdblank00000000000000pyrobot/engine/__init__.py0000775000076400007640000002201610271075630016661 0ustar dblankdblank00000000000000""" Engine class. This object binds together a robot, a simulator, and a brain. This class will find, load, and start all of the parts. Examples: >>> e = Engine(robotfile="Test") >>> e = Engine(robotfile="Player6665", simfile="StageSimulator", worldfile="everything.cfg", devices=['Test', 'BlobCamera']) >>> e = Engine() >>> r = Robot() >>> e.setRobot(r) """ __author__ = "Douglas Blank " __version__= "$Revision: 1.46 $" import time, sys, os import pyrobot.gui.console as console import pyrobot.system as system import pyrobot.system.share as share class Engine: """Finds, loads, and creates the needed simulators, robots, devices, etc.""" def __init__(self, robotfile = None, brainfile = None, simfile = None, pyroargs=[], config = {}, worldfile = None, devices = ['']): """Constructor for the Engine class.""" self.robot = 0 self.brain = 0 self.gui = None if brainfile != None: self.brainfile = brainfile else: self.brainfile = '' if robotfile != None: self.robotfile = robotfile else: self.robotfile = '' if worldfile != None: self.worldfile = worldfile else: self.worldfile = '' if simfile != None: self.simfile = simfile else: self.simfile = '' self.args = pyroargs self.config = config if self.simfile: self.loadSimulator(self.simfile, self.worldfile) #time.sleep(2) if self.robotfile: self.loadRobot(self.robotfile) if devices != ['']: for dev in devices: self.robot.startDevice(dev) if self.brainfile: self.loadBrain(self.brainfile) #time.sleep(2) def reset(self): """Shuts down the brain, and reloads it.""" self.pleaseStop() time.sleep(.1) # give it time to stop if self.brain is not 0: self.brain.pleaseQuit() time.sleep(.1) # give it time to stop #self.robot = system.loadINIT(self.robotfile, redo = 1) try: self.brain.window.destroy() except: pass try: self.brain.destroy() except: print "I was unable to properly destroy the brain" self.brain = system.loadINIT(self.brainfile, self, 1) def resetFirstAttempts(self): """Test method.""" self.pleaseStop() if self.robotfile: file = self.robotfile[0:-3] # strip off .py #file = file.replace('/', '.') file = file.split('/') file = "pyrobot." + file[-3] + "." + file[-2] + "." + file[-1] print file exec( "reload(" + file + ")") if self.brainfile: file = self.brainfile[0:-3] # strip off .py #file = file.replace('/', '.') file = file.split('/') file = "pyrobot." + file[-3] + "." + file[-2] + "." + file[-1] print file exec( "reload(" + file + ")") #exec( "reload(" + file + ")") #reload(file) #reload(self.brainfile) def loadSimulator(self, file, worldfile): """Finds and loads the simulator.""" import string options = string.split(file) guiflag = '' simulatorName = file.split('/')[-1] pyroPID = os.getpid() if simulatorName[-6:] == "Server": configDirName = simulatorName[:-6] if system.file_exists(worldfile): pass # leave it alone elif system.file_exists( os.getenv('PYROBOT') + \ '/plugins/configs/%s/%s' % (configDirName, worldfile)): worldfile = os.getenv('PYROBOT') + \ '/plugins/configs/%s/%s' % (configDirName, worldfile) if self.config.get("pyrobot", "gui") .lower() == 'tty': guiflag = '-g' if system.file_exists(options[0]): os.system(file + (" %d " % pyroPID) + guiflag + " " + worldfile + " &") elif system.file_exists(os.getenv('PYROBOT') + \ '/plugins/simulators/' + options[0]): os.system(os.getenv('PYROBOT') + '/plugins/simulators/' + file + \ (" %d " % pyroPID) + guiflag + " " + worldfile + " &") else: raise 'Server file not found: ' + file else: # Ends with "Simulator" simDirName = simulatorName[:-9] if system.file_exists(worldfile): pass # leave it alone elif system.file_exists( os.getenv('PYROBOT') + \ '/plugins/worlds/%s/%s' % (simDirName, worldfile)): worldfile = os.getenv('PYROBOT') + \ '/plugins/worlds/%s/%s' % (simDirName, worldfile) if self.config.get("pyrobot", "gui") .lower() == 'tty': guiflag = '-g' if system.file_exists(options[0]): os.system(file + (" %d " % pyroPID)+ guiflag + " " + worldfile + " &") elif system.file_exists(os.getenv('PYROBOT') + \ '/plugins/simulators/' + options[0]): os.system(os.getenv('PYROBOT') + '/plugins/simulators/' + file + \ (" %d " % pyroPID) + guiflag + " " + worldfile + " &") else: raise 'Simulator file not found: ' + file print "Loading.", sys.stdout.flush() wait = None if type(share.config) != type(0): wait = share.config.get("gui", "sim_start_delay") if wait == None: time.sleep(1) # default elif wait: time.sleep(float(wait)) print ".", sys.stdout.flush() def loadRobot(self,file): """Finds and loads the robot.""" if file[-3:] != '.py': file = file + '.py' if system.file_exists(file): self.robot = system.loadINIT(file) self.robotfile = file elif system.file_exists(os.getenv('PYROBOT') + \ '/plugins/robots/' + file): self.robot = system.loadINIT(os.getenv('PYROBOT') + \ '/plugins/robots/' + file) self.robotfile = os.getenv('PYROBOT') + '/plugins/robots/' + file else: raise 'Robot file not found: ' + file def setRobot(self,robot): """Sets the robot, after the creation of the engine.""" self.robot = robot def setBrain(self,brain): """Sets the brain, after the creation of the engine.""" self.brain = brain def loadBrain(self,file): """Finds and loads the brain file.""" if self.robot is 0: raise 'No robot loaded when loading brain' if file[-3:] != '.py': file = file + '.py' if system.file_exists(file): try: self.brain.window.destroy() except: pass try: self.brain.destroy() except: pass self.brain = system.loadINIT(file, self) self.brainfile = file elif system.file_exists(os.getenv('PYROBOT') + \ '/plugins/brains/' + file): try: self.brain.window.destroy() except: pass try: self.brain.destroy() except: pass self.brain = system.loadINIT(os.getenv('PYROBOT') + \ '/plugins/brains/' + file, self) self.brainfile = os.getenv('PYROBOT') + '/plugins/brains/' + file else: raise 'File not found: ' + file def freeBrain(self): """Kills the brain.""" if self.brain != 0: self.brain.pleaseQuit() def freeRobot(self): """Kills the robot.""" self.freeBrain() if self.robot != 0: self.robot.disconnect() self.robot = 0 def shutdown(self): """Shuts everything down.""" self.freeRobot() def tryToConnect(self): """Tests to see if you have a brain and robot.""" if (self.robot is 0) or (self.brain is 0): print "Need to have a robot and brain connected!" return #no go, not enough parts to make frankie go def pleaseRun(self, callback = 0): """Request to run the brain, followed by a callback.""" if self.brain is not 0: self.brain.pleaseRun(callback) def pleaseStep(self): """Attempt to step the brain.""" if self.brain is not 0: self.brain.pleaseStep() time.sleep(.5) # arbitrary time to allow it to do something self.robot.move(0, 0) def pleaseStop(self): """Attempt to stop the brain.""" if self.brain is not 0: self.brain.pleaseStop() if self.robot is not 0: self.robot.stop() def _draw(self,options,renderer): """Method to draw the engine. Not used, currently.""" pass # overload, if you want to draw it def destroyBrain(self): """Method to destroy the brain, if one.""" if self.brain is not 0: try: self.brain.destroy() except: print "I was unable to properly destroy the brain" def getGUI(self): """Returns the gui object.""" return self.gui pyrobot/system/0000775000076400007640000000000010274320624014622 5ustar dblankdblank00000000000000pyrobot/system/share.py0000775000076400007640000000057210146255364016313 0ustar dblankdblank00000000000000config = 0 gui = 0 def ask(title, qlist): """ A little function to get info from the user. May be redefined for other GUIs. """ print title retval = {"ok": 1} for (name, value) in qlist: print "%s [%s]: " % (name, value), retval[name] = raw_input() if retval[name] == "": retval[name] = value return retval pyrobot/system/log.py0000775000076400007640000000463210262507067015772 0ustar dblankdblank00000000000000# A log class import time, os, posixpath class Log: """ A log class to do automatically what needs to be done for each experiment. """ def __init__(self,filename = None, name = None, robot = None, brain = None, echo = 1, mode = 'w'): """ Pass in robot and brain so that we can query them (and maybe make copies and query them on occation). If echo is True, then it will echo the log file to the terminal """ self.open = 1 timestamp = self.timestamp() if filename == None: filename= timestamp + '.log' while posixpath.exists(filename): timestamp = self.timestamp() filename = timestamp + '.log' self.filename = filename self.file = open(filename, mode) self.echo = echo if mode == 'a': self.writeln('... Continuing log at ' + timestamp) else: self.writeln("Log opened: " + timestamp) if name != None: self.writeln('Experiment name: ' + name) if robot != None: self.writeln('Robot: ' + robot.type) if brain != None: self.writeln('Brain: ' + brain.name) if os.environ.has_key('HOSTNAME'): self.writeln('Hostname: ' + os.environ['HOSTNAME']) if os.environ.has_key('USER'): self.writeln('User: ' + os.environ['USER']) def timestamp(self): year,month,day,hour,minute,second,one,two,three=time.localtime() return '%4d.%02d.%02d-%02d.%02d.%02d' % (year, month, day, hour, minute, second) def flush(self): self.file.flush() def write(self, msg): """ Write a string to the log """ if self.echo: print msg, if self.open: self.file.write(msg) self.file.flush() def writeln(self, msg): """ Write a line (with newline) to the log """ if self.echo: print msg if self.open: self.file.write(msg + "\n") self.file.flush() def close(self): """ Close the log """ if self.open: year,month,day,hour,minute,second,one,two,three=time.localtime() self.writeln("Log closed: " + self.timestamp()) self.file.close() self.open = 0 if __name__ == '__main__': log = Log() log.write("testing...") log.write("testing...") log.writeln("tested!") log.close() log.write("testing...") log.write("testing...") log.writeln("tested!") log.close() pyrobot/system/config.py0000775000076400007640000000616610270003766016456 0ustar dblankdblank00000000000000from os import environ from pyrobot.system import file_exists import ConfigParser import string class Configuration: def __init__(self, file = None): self.data = { "robot": {}, "brain": {}, "simulator": {}, "pyrobot": {} } if file != None and file != "None": self.load(file) def display(self): for sec in self.data.keys(): print "[%s]" % sec for opt in self.data[sec].keys(): print opt, "=", self.data[sec][opt] print def get(self, name, opt): try: return self.data[name][opt] except: return None def put(self, name, opt, value): if not self.data.has_key(name): self.data[name] = {} self.data[name][opt] = value def processFile(self, file, cp): print "Loading config '%s'..." % file cp.read(file) for sec in cp.sections(): name = string.lower(sec) if not self.data.has_key(name): self.data[name] = {} for opt in cp.options(sec): self.data[name][string.lower(opt)] = string.strip(cp.get(sec, opt)) def save(self, file="pyrobot.ini"): fp = open(file, "w") for section in self.data: if section == "config": continue # don't save config, that's what we're doing! print >> fp, "[%s]" % section for item in self.data[section]: print >> fp, "%s=%s" % (item, self.data[section][item]) print >> fp fp.close() def load(self, file = None): cp = ConfigParser.ConfigParser() if file_exists( environ['PYROBOT'] + "/.pyrobot"): # $PYROBOT? self.processFile( environ['PYROBOT'] + "/.pyrobot", cp) if file_exists( environ['PYROBOT'] + "/pyrobot.ini"): # $PYRO? self.processFile( environ['PYROBOT'] + "/pyrobot.ini", cp) if file_exists( environ['PYROBOT'] + "/.pyrobot-" + environ['HOSTNAME']): # $PYRO-HOSTNAME? self.processFile( environ['PYROBOT'] + "/.pyrobot-" + environ['HOSTNAME'], cp) if file_exists( environ['PYROBOT'] + "/pyrobot-" + environ['HOSTNAME'] + ".ini"): # $PYRO-HOSTNAME? self.processFile( environ['PYROBOT'] + "/pyrobot-" + environ['HOSTNAME'] + ".ini", cp) if file_exists( environ['HOME'] + "/.pyrobot"): # home dir? self.processFile( environ['HOME'] + "/.pyrobot", cp) if file_exists( environ['HOME'] + "/pyrobot.ini"): # home dir? self.processFile( environ['HOME'] + "/pyrobot.ini", cp) if file_exists(".pyrobot"): # current dir? self.processFile( ".pyrobot", cp) if file_exists("pyrobot.ini"): # current dir? self.processFile( "pyrobot.ini", cp) if file and file_exists(file): self.processFile( file, cp) if __name__ == "__main__": config = Configuration() config.load("some.ini") config.display() pyrobot/system/debug.py0000664000076400007640000001147210244170212016260 0ustar dblankdblank00000000000000import code import readline import atexit import os import sys import signal from traceback import print_exc as print_exc from traceback import extract_stack def _colorize(txt, col="red"): """Return colorized text""" cols = { 'red':1, 'green':2, 'yellow':3, 'blue':4} initcode = '\033[;3' endcode = '\033[0m' if type(col) == type(1): return initcode + str(col) + 'm' + txt + endcode try: return initcode + str(cols[col]) + 'm' + txt + endcode except: return txt class PyrobotDebugger(code.InteractiveConsole): def __init__(self, filename="", histfile=os.path.expanduser("~/.pyrobothist"), frame=None): code.InteractiveConsole.__init__(self) self.init_history(histfile) self.stack = extract_stack() self.frames = [frame] thisFrame = frame while 1: try: self.frames.append(thisFrame.f_back) thisFrame = thisFrame.f_back except: break self.frames.reverse() self.frames.append(None) self.frames.append(None) self.currentPos = -len(self.frames) + 1 self.lastPos = self.currentPos self.locals = self.frames[self.currentPos].f_locals self.initDisplay = 0 def displayTrace(self): maxFuncName = 0 c = 1 for i in range(-len(self.frames) + 1, -3 + 1): a_es, b_es, c_es, d_es = self.stack[i] maxFuncName = max(maxFuncName, len(c_es)) for i in range(-len(self.frames) + 1, -3 + 1): a_es, b_es, c_es, d_es = self.stack[i] if c_es == '?': c_es = '__main__' else: c_es += '()' if self.currentPos + len(self.frames) == c: pointer = ">" else: pointer = " " nameFormat = ("%-" + ("%d" % (maxFuncName + 2))) + "s" if pointer == ">": print _colorize((" %s %2d) "+ nameFormat +" at %s:%s") % (pointer, c, c_es, a_es, b_es),"green") else: print (" %s %2d) "+ nameFormat +" at %s:%s") % (pointer, c, c_es, a_es, b_es) c += 1 print def displayHelp(self): print "Commands:", _colorize("up, down, top, bot, help, quit, a frame number, edit,") print _colorize(" or any Python expression. to continue.") def init_history(self, histfile): readline.parse_and_bind("tab: complete") if hasattr(readline, "read_history_file"): try: readline.read_history_file(histfile) except IOError: pass #atexit.register(self.save_history, histfile) def save_history(self, histfile = None): if histfile == None: histfile=os.path.expanduser("~/.pyrobothist") readline.write_history_file(histfile) def raw_input(self, prompt): if not self.initDisplay or self.currentPos != self.lastPos: self.displayTrace() self.displayHelp() self.initDisplay = 1 self.lastPos = self.currentPos return code.InteractiveConsole.raw_input(self, prompt) def push(self, line): if line in ["up", "down", "top", "bot"]: if line == "up": self.currentPos -= 1 elif line == "down": self.currentPos += 1 elif line == "top": self.currentPos = -len(self.frames) + 1 elif line == "bot": self.currentPos = -3 # ---------------- check and return if self.currentPos >= -len(self.frames) + 1 and \ self.currentPos <= -3: self.locals = self.frames[self.currentPos].f_locals else: self.currentPos = self.lastPos return if line in map(str, range(len(self.stack))): self.currentPos = int(line) - len(self.stack) - 1 self.locals = self.frames[self.currentPos].f_locals return if line == "quit": sys.exit(1) elif line == "help": self.displayHelp() return elif line == "edit": a_es, b_es, c_es, d_es = self.stack[self.currentPos] fileName = a_es lineNumber = b_es os.system("emacs +%s %s &" % (lineNumber, fileName)) return return code.InteractiveConsole.push(self, line) def Break(): import inspect _handler(None, inspect.currentframe()) def _handler(signum, frame): console = PyrobotDebugger(frame=frame) console.interact() console.save_history() print _colorize("\nContinuing...", "yellow") signal.signal(signal.SIGTSTP, _handler) # suspend print _colorize("Pyrobot debugger is installed. Press to activate.") pyrobot/system/SerialConnection.py0000775000076400007640000001566710101361073020445 0ustar dblankdblank00000000000000 from termios import * import select import string import time from threading import * class TimeOut: """ Class needed for raising a TimeOut exception """ pass class SerialConnection: # Indexes for termios list. IFLAG = 0 OFLAG = 1 CFLAG = 2 LFLAG = 3 ISPEED = 4 OSPEED = 5 CC = 6 def __init__(self, aDevice, aSpeed): # Open the serial interface self.mSerial_id = open(aDevice, "a+") self.mSerial_nr = self.mSerial_id.fileno() # Configure the serial interface self._setup() self.setSpeed(aSpeed) # Create Event() and Lock() objects # Event object used to ensure the correct data flow from the # application to the robot and back self.mCoordinate = Event() self.mCoordinate.set() # Maximal Timeout self.mMaxTime = 5 # was 5 self.mIOmutex = Lock() def setSpeed(self, aSpeed): """ Set baud rate of the device """ mode = tcgetattr(self.mSerial_nr) mode[self.ISPEED] = aSpeed mode[self.OSPEED] = aSpeed tcsetattr(self.mSerial_nr, TCSANOW, mode) def _setup(self): """ Configure the serial device in a way that it can be used for the Khepera robot """ mode = tcgetattr(self.mSerial_nr) mode[self.IFLAG] = mode[self.IFLAG] & ~(IGNBRK | BRKINT | IGNPAR | INPCK | ISTRIP | ICRNL | INLCR | IXON|IXOFF) mode[self.OFLAG] = mode[self.OFLAG] & ~(OPOST) mode[self.CFLAG] = mode[self.CFLAG] & ~(CSIZE | PARENB) # CS8 = 8 Bits, CSTOPB = 1 stop bit, CRTSCTS = no hardware flow control # PARENB = no parity; BAUD/N/8/1 mode[self.CFLAG] = mode[self.CFLAG] | (CS8) mode[self.CFLAG] = mode[self.CFLAG] & ~(PARENB | CSTOPB | CRTSCTS) mode[self.LFLAG] = mode[self.LFLAG] & ~(ECHO | ICANON | IEXTEN | ISIG) mode[self.CC][VMIN] = 1 mode[self.CC][VTIME] = 0 tcsetattr(self.mSerial_nr, TCSANOW, mode) ######################################################################## def fileno(self): """ Return the integer representation of the device """ return self.mSerial_nr ######################################################################## def close(self): """ Close the device """ self.mSerial_id.close() ######################################################################## def writeblock(self, aBlock): """ Write a complete block of data to the device """ # Check if the response for the last query has already arived self.mCoordinate.wait(self.mMaxTime) # Aquire lock for the device self.mIOmutex.acquire() if (not self.mCoordinate.isSet()): # We got a time out self.mIOmutex.release() raise TimeOut() # Clear event to show that a command has been sent an we wait # for a response self.mCoordinate.clear() # Write out all lines for vLine in aBlock: (vIn, vOut, vExt) = select.select([], [self.mSerial_nr], []) self.mSerial_id.write(vLine) self.mSerial_id.flush() # Release lock for the device self.mIOmutex.release() ######################################################################## def writeline(self, aData, newline = "\n"): """ Write out just one line """ # Check if the response for the last query has already arived self.mCoordinate.wait(self.mMaxTime) # Aquire lock for the device self.mIOmutex.acquire() if (not self.mCoordinate.isSet()): # We got a time out print "sc: timeout" self.mIOmutex.release() raise TimeOut() # Clear event to show that a command has been sent an we wait # for a response self.mCoordinate.clear() (vIn, vOut, vExt) = select.select([], [self.mSerial_nr], []) # Write out the data self.mSerial_id.write(aData) self.mSerial_id.write(newline) self.mSerial_id.flush() # Release the IO-lock self.mIOmutex.release() #################################################################### def readline(self, aBlocking=0): """ Read a line from the device, with or without blocking """ if (aBlocking): return self._blockingReadline() return self._readline() # ------------------------------------------------------------------ def _blockingReadline(self): """ Block until we have some data at the serial interface """ # Wait until we have something (vIn, vOut, vExt) = select.select([self.mSerial_nr], [], []) # Lock the serial IO device self.mIOmutex.acquire() # Read data vPuffer = self.mSerial_id.readline() # Unlock the serial IO device self.mIOmutex.release() # We got a message back. # If we send a query from the GUI this is the answer if the # protocal is handled correctly. # Thus, a new send is allowed self.mCoordinate.set() # Return the data read return vPuffer # ------------------------------------------------------------------ def _readline(self): """ Read data but do not block if nothing is available at the serial IO device """ vPuffer = "" while 1: # Wait for data print "cs: wait on read" (vIn, vOut, vExt) = select.select([self.mSerial_nr], [], [], 0.01) # Check for timeout if (len(vIn) == 0): print "sc: read timeout" break # We got data -> Lock serial IO self.mIOmutex.acquire() # Add string to the data we read in previous cylces vPuffer = vPuffer + self.mSerial_id.readline() # Unlock serial IO self.mIOmutex.release() # We got a message back. # If we send a query from the GUI this is the answer if the # protocal is handled correctly. # Thus, a new send is allowed print "cs: got message:", vPuffer self.mCoordinate.set() # Return string return vPuffer pyrobot/system/ClientServer.py0000775000076400007640000001743410244170212017606 0ustar dblankdblank00000000000000# # All communication between Client and Server are done through # Message objects. NO REGULAR TEXT EXCHANGE! # # Protocol: Server will return a message for every message it gets! # from pyrobot.gui import console import socket import SocketServer import cPickle import sys import os import time import thread PYROPORT = 1408 MSG_MAX_LEN = 10000 class Server(SocketServer.TCPServer): def __init__(self, ip_port, handler): """ The official - behind the scenes - init don't change anything add any init code to init_world() this init will reserve IP_Port and stuff like that """ self.alive = 1 self.request_queue_size = 10 shift = 0 while 1: try: console.log(console.INFO,'Trying port :' + str(PYROPORT+shift)) #print "trying port:",PYROPORT+shift SocketServer.TCPServer.__init__(self,ip_port, \ handler) break except: shift += 1 ip_port=("localhost",PYROPORT+shift) if (shift > 10): break if (shift>10): console.log(console.FATAL,'Can\'t bind ' + str(ip_port)) return else: console.log(console.INFO,'Server at ' + str(ip_port)) self.init_world() def init_world(self): pass def serve(self): self.serve_forever() def quit(self): console.log(console.INFO,'Server is quitting') #self.socket.shutdown(0) self.alive = 0 self.socket.close() # def serve_forever(self): # console.log(console.INFO,'Server is running forever') # SocketServer.TCPServer.serve_forever(self) #override serv_forever def serv_forever(self): while self.alive == 1: self.handle_request() # tcp/socket call def process_request(self, request, client_address): """ We override this funciton to allow multi-threaded server-request processing i.e. allow multiple connections """ thread.start_new_thread(self.finish_request, (request, client_address)) """class MyServerQuit: def __init__(self, value): self.value = value def __str__(self): return `self.value`""" class Client: """ Client Class """ def __init__(self, host="localhost", port=PYROPORT): """ Init the class - define socket type """ self.host = host self.port = port self.s = socket.socket(socket.AF_INET, socket.SOCK_STREAM) console.log(console.INFO,'Client init') self.alive = 1 #0 for false, 1 for true - flag to quit def connect(self): """ Connect to server - already defined in init """ shift = 0 done = 0 while not done: try: console.log(console.INFO,"trying port:" + str(self.port+shift)) self.s.connect((self.host, self.port+shift)) self.port += shift self.init_server() break except: console.log(console.WARNING, "Connection failed" + str(sys.exc_info()[0])) #print "eer=",sys.exc_info()[0],']' #for some reason, I need to restart the socket #after every failed try to connect self.s.close() self.s = socket.socket(socket.AF_INET, socket.SOCK_STREAM) shift += 1 if (shift > 10): break if (shift>10): console.log(console.FATAL,'Client can\'t connect:' + `self.host + ":"\ + str(self.port)`) self.alive = 0 else: console.log(console.INFO,'Client connected to ' + `self.host + ":"\ + str(self.port)`) def init_server(self): """ This function will send a verification message to test if client is connected to a SimServer or some other one! It will raise an exception if it was wrong """ self.send(Message("Init")) ret = self.receive() if (ret.type == "OK" and ret.body=="Init"):#Good server! console.log(console.INFO,'Server Verified') else: console.log(console.INFO,'Server incompatible') raise ConnectionError, 'Wrong Server' def send(self, smsg):#smsg - Message """ Pickles a Message obj, and sends it """ #pickle it data = cPickle.dumps(smsg,0)#0 means ASCII encryption #send the resulting string self.sendString(data) def receive(self): """ Rewceives a string, unpickle it, then returns the Message object """ #get msg msg = self.receiveString() #smsg = Message() try: #unpickle it smsg = cPickle.loads(msg) except: #error console.log(console.ERROR,'Unrecognized msg format[' + msg+']') #raise #print "error=[", sys.exc_info()[0],"]" smsg = Message() return smsg def sendString(self, message): """ sends message to open socket """ #print "Send:\t", message self.s.send(message) def receiveString(self): """receive from server""" return self.s.recv(MSG_MAX_LEN) def listenString(self,times=-1): """ unlimited receive """ while times != 0: times = times - 1 msg = self.receiveString() #print "Recv:\t", msg #if (msg != None): #print "Received:" + str(times) + ":[" + msg + "]" def terminal(self): """will send user command, then listen to server once""" self.usersend() while self.alive: self.listenString(1) self.usersend() def usersend(self): """will send whatever the user types - every line""" print "Enter commands for server:" msg = sys.stdin.readline() if (msg == "exit\012"): self.alive=1 else: self.sendString(msg) def disconnect(self): """ just call self.close() """ self.close() def close(self): """ Close connection """ console.log(console.INFO,'Client closing') self.s.close() class Message: """ This class will be the main block of communication between server/client Possible types: 1- RawCode: Raw code to run type: 'ExecCode' body: String containing all commands to be executed agrs: none 2- type: 'OK' confirmation of something body: 'the something' 3- type: 'Error', body: 'Error message' """ def __init__(self, type="None", body="", args={}): self.type = type self.body = body self.args = args def toString(self): res = "[" + self.type + "," + self.body + "," + str(self.args) + "]" return res class ReqHandler(SocketServer.BaseRequestHandler): def handle(self): console.log(console.INFO,'Connection Request') #print "req:",self.request,"ser:",self.server,"client:",self.client_address #print "socket=" , self.request.socket self.done = 0 while not self.done: data = self.request.recv(MSG_MAX_LEN) if not data: break #client forced close connection try: #unpickle the message msg = cPickle.loads(data) except: #error console.log(console.ERROR,'Unrecognized msg format[' + data+']') sendmsg = Message(type="String",body="Error - no format") else: sendmsg = self.process(msg) #there must be a response for each incoming message #pickle the message out senddata = cPickle.dumps(sendmsg,0)#0 for ASCII encrypt #print "Send:\t",`senddata` self.request.send(senddata) #close connection self.request.close() def process(self,data): """this functin will handle all the incoming messages from client args: data - Message class return: msg - Message class """ if (data.type == "Init"): msg = Message("OK","Init") elif (data.type == "ExecCode"): #run code exec data.body msg = Message("OK","ExecCode") elif (data.type == "Robot"): #any messages that deal with robots msg = self.process_robot(data) else: console.log(console.WARNING,'Unknown message type from client['\ + data.type + ']') msg = Message("Error","unknown type[" + data.type + "]") return msg def process_robot(self, data): pass if (__name__ == '__main__'): print 'Testing SimServer & SimClient' process = os.fork() if process: ss = Server() ss.serve_forever() #listen infinitely sc = Client() sc.connect() if (sc.alive): print 'press enter to test exec' sys.stdin.readline() sc.send(Message("ExecCode","print 'testing success'")) ret = sc.receive() print ret.toString() print 'press enter to move on' sys.stdin.readline() sc.send(Message("wrong","testing error")) ret = sc.receive() print ret.toString() print 'press enter to finish' sys.stdin.readline() sc.close() pyrobot/system/serial/0000775000076400007640000000000010274320624016101 5ustar dblankdblank00000000000000pyrobot/system/serial/serialwin32.py0000775000076400007640000002570410103266456020633 0ustar dblankdblank00000000000000#! python #Python Serial Port Extension for Win32, Linux, BSD, Jython #serial driver for win32 #see __init__.py # #(C) 2001-2003 Chris Liechti # this is distributed under a free software license, see license.txt import win32file # The base COM port and file IO functions. import win32event # We use events and the WaitFor[Single|Multiple]Objects functions. import win32con # constants. from serialutil import * VERSION = "$Revision: 1.1 $".split()[1] #extract CVS version #from winbase.h. these should realy be in win32con MS_CTS_ON = 16 MS_DSR_ON = 32 MS_RING_ON = 64 MS_RLSD_ON = 128 def device(portnum): """Turn a port number into a device name""" #the "//./COMx" format is required for devices >= 9 #not all versions of windows seem to support this propperly #so that the first few ports are used with the DOS device name if portnum < 9: return 'COM%d' % (portnum+1) #numbers are transformed to a string else: return r'\\.\COM%d' % (portnum+1) class Serial(SerialBase): """Serial port implemenation for Win32. This implemenatation requires a win32all installation.""" BAUDRATES = (50,75,110,134,150,200,300,600,1200,1800,2400,4800,9600, 19200,38400,57600,115200) def open(self): """Open port with current settings. This may throw a SerialException if the port cannot be opened.""" if self._port is None: raise SerialException("Port must be configured before it can be used.") self.hComPort = None try: self.hComPort = win32file.CreateFile(self.portstr, win32con.GENERIC_READ | win32con.GENERIC_WRITE, 0, # exclusive access None, # no security win32con.OPEN_EXISTING, win32con.FILE_ATTRIBUTE_NORMAL | win32con.FILE_FLAG_OVERLAPPED, None) except Exception, msg: self.hComPort = None #'cause __del__ is called anyway raise SerialException("could not open port: %s" % msg) # Setup a 4k buffer win32file.SetupComm(self.hComPort, 4096, 4096) #Save original timeout values: self._orgTimeouts = win32file.GetCommTimeouts(self.hComPort) self._reconfigurePort() # Clear buffers: # Remove anything that was there win32file.PurgeComm(self.hComPort, win32file.PURGE_TXCLEAR | win32file.PURGE_TXABORT | win32file.PURGE_RXCLEAR | win32file.PURGE_RXABORT) self._overlappedRead = win32file.OVERLAPPED() self._overlappedRead.hEvent = win32event.CreateEvent(None, 1, 0, None) self._overlappedWrite = win32file.OVERLAPPED() self._overlappedWrite.hEvent = win32event.CreateEvent(None, 0, 0, None) self._isOpen = True def _reconfigurePort(self): """Set commuication parameters on opened port.""" if not self.hComPort: raise SerialException("Can only operate on a valid port handle") #Set Windows timeout values #timeouts is a tuple with the following items: #(ReadIntervalTimeout,ReadTotalTimeoutMultiplier, # ReadTotalTimeoutConstant,WriteTotalTimeoutMultiplier, # WriteTotalTimeoutConstant) if self._timeout is None: timeouts = (0, 0, 0, 0, 0) elif self._timeout == 0: timeouts = (win32con.MAXDWORD, 0, 0, 0, 0) else: timeouts = (0, 0, int(self._timeout*1000), 0, 0) win32file.SetCommTimeouts(self.hComPort, timeouts) win32file.SetCommMask(self.hComPort, win32file.EV_ERR) # Setup the connection info. # Get state and modify it: comDCB = win32file.GetCommState(self.hComPort) comDCB.BaudRate = self._baudrate if self._bytesize == FIVEBITS: comDCB.ByteSize = 5 elif self._bytesize == SIXBITS: comDCB.ByteSize = 6 elif self._bytesize == SEVENBITS: comDCB.ByteSize = 7 elif self._bytesize == EIGHTBITS: comDCB.ByteSize = 8 else: raise ValueError("Unsupported number of data bits: %r" % self._bytesize) if self._parity == PARITY_NONE: comDCB.Parity = win32file.NOPARITY comDCB.fParity = 0 # Dis/Enable Parity Check elif self._parity == PARITY_EVEN: comDCB.Parity = win32file.EVENPARITY comDCB.fParity = 1 # Dis/Enable Parity Check elif self._parity == PARITY_ODD: comDCB.Parity = win32file.ODDPARITY comDCB.fParity = 1 # Dis/Enable Parity Check else: raise ValueError("Unsupported parity mode: %r" % self._parity) if self._stopbits == STOPBITS_ONE: comDCB.StopBits = win32file.ONESTOPBIT elif self._stopbits == STOPBITS_TWO: comDCB.StopBits = win32file.TWOSTOPBITS else: raise ValueError("Unsupported number of stop bits: %r" % self._stopbits) comDCB.fBinary = 1 # Enable Binary Transmission # Char. w/ Parity-Err are replaced with 0xff (if fErrorChar is set to TRUE) if self._rtscts: comDCB.fRtsControl = win32file.RTS_CONTROL_HANDSHAKE comDCB.fDtrControl = win32file.DTR_CONTROL_HANDSHAKE else: comDCB.fRtsControl = win32file.RTS_CONTROL_ENABLE comDCB.fDtrControl = win32file.DTR_CONTROL_ENABLE comDCB.fOutxCtsFlow = self._rtscts comDCB.fOutxDsrFlow = self._rtscts comDCB.fOutX = self._xonxoff comDCB.fInX = self._xonxoff comDCB.fNull = 0 comDCB.fErrorChar = 0 comDCB.fAbortOnError = 0 win32file.SetCommState(self.hComPort, comDCB) #~ def __del__(self): #~ self.close() def close(self): """Close port""" if self._isOpen: if self.hComPort: #Restore original timeout values: win32file.SetCommTimeouts(self.hComPort, self._orgTimeouts) #Close COM-Port: win32file.CloseHandle(self.hComPort) self.hComPort = None self._isOpen = False def makeDeviceName(self, port): return device(port) # - - - - - - - - - - - - - - - - - - - - - - - - def inWaiting(self): """Return the number of characters currently in the input buffer.""" flags, comstat = win32file.ClearCommError(self.hComPort) return comstat.cbInQue def read(self, size=1): """Read size bytes from the serial port. If a timeout is set it may return less characters as requested. With no timeout it will block until the requested number of bytes is read.""" if not self.hComPort: raise portNotOpenError if size > 0: win32event.ResetEvent(self._overlappedRead.hEvent) flags, comstat = win32file.ClearCommError(self.hComPort) if self.timeout == 0: n = min(comstat.cbInQue, size) if n > 0: rc, buf = win32file.ReadFile(self.hComPort, win32file.AllocateReadBuffer(n), self._overlappedRead) win32event.WaitForSingleObject(self._overlappedRead.hEvent, win32event.INFINITE) read = str(buf) else: read = '' else: rc, buf = win32file.ReadFile(self.hComPort, win32file.AllocateReadBuffer(size), self._overlappedRead) n = win32file.GetOverlappedResult(self.hComPort, self._overlappedRead, 1) read = str(buf[:n]) else: read = '' return read def write(self, s): """Output the given string over the serial port.""" if not self.hComPort: raise portNotOpenError #print repr(s), if s: err, n = win32file.WriteFile(self.hComPort, s, self._overlappedWrite) if err: #will be ERROR_IO_PENDING: # Wait for the write to complete. win32event.WaitForSingleObject(self._overlappedWrite.hEvent, win32event.INFINITE) def flushInput(self): """Clear input buffer, discarding all that is in the buffer.""" if not self.hComPort: raise portNotOpenError win32file.PurgeComm(self.hComPort, win32file.PURGE_RXCLEAR | win32file.PURGE_RXABORT) def flushOutput(self): """Clear output buffer, aborting the current output and discarding all that is in the buffer.""" if not self.hComPort: raise portNotOpenError win32file.PurgeComm(self.hComPort, win32file.PURGE_TXCLEAR | win32file.PURGE_TXABORT) def sendBreak(self): """Send break condition.""" if not self.hComPort: raise portNotOpenError import time win32file.SetCommBreak(self.hComPort) #TODO: how to set the correct duration?? time.sleep(0.020) win32file.ClearCommBreak(self.hComPort) def setRTS(self,level=1): """Set terminal status line: Request To Send""" if not self.hComPort: raise portNotOpenError if level: win32file.EscapeCommFunction(self.hComPort, win32file.SETRTS) else: win32file.EscapeCommFunction(self.hComPort, win32file.CLRRTS) def setDTR(self,level=1): """Set terminal status line: Data Terminal Ready""" if not self.hComPort: raise portNotOpenError if level: win32file.EscapeCommFunction(self.hComPort, win32file.SETDTR) else: win32file.EscapeCommFunction(self.hComPort, win32file.CLRDTR) def getCTS(self): """Read terminal status line: Clear To Send""" if not self.hComPort: raise portNotOpenError return MS_CTS_ON & win32file.GetCommModemStatus(self.hComPort) != 0 def getDSR(self): """Read terminal status line: Data Set Ready""" if not self.hComPort: raise portNotOpenError return MS_DSR_ON & win32file.GetCommModemStatus(self.hComPort) != 0 def getRI(self): """Read terminal status line: Ring Indicator""" if not self.hComPort: raise portNotOpenError return MS_RING_ON & win32file.GetCommModemStatus(self.hComPort) != 0 def getCD(self): """Read terminal status line: Carrier Detect""" if not self.hComPort: raise portNotOpenError return MS_RLSD_ON & win32file.GetCommModemStatus(self.hComPort) != 0 #Nur Testfunktion!! if __name__ == '__main__': print __name__ s = Serial() print s s = Serial(0) print s s.baudrate = 19200 s.databits = 7 s.close() s.port = 3 s.open() print s pyrobot/system/serial/serialposix.py0000775000076400007640000003502510103266455021027 0ustar dblankdblank00000000000000#!/usr/bin/env python #Python Serial Port Extension for Win32, Linux, BSD, Jython #module for serial IO for POSIX compatible systems, like Linux #see __init__.py # #(C) 2001-2003 Chris Liechti # this is distributed under a free software license, see license.txt # #parts based on code from Grant B. Edwards : # ftp://ftp.visi.com/users/grante/python/PosixSerial.py # references: http://www.easysw.com/~mike/serial/serial.html import sys, os, fcntl, termios, struct, select from serialutil import * VERSION = "$Revision: 1.1 $".split()[1] #extract CVS version #Do check the Python version as some constants have moved. if (sys.hexversion < 0x020100f0): import TERMIOS else: TERMIOS = termios if (sys.hexversion < 0x020200f0): import FCNTL else: FCNTL = fcntl #try to detect the os so that a device can be selected... plat = sys.platform.lower() if plat[:5] == 'linux': #Linux (confirmed) def device(port): return '/dev/ttyS%d' % port elif plat == 'cygwin': #cywin/win32 (confirmed) def device(port): return '/dev/com%d' % (port + 1) elif plat == 'openbsd3': #BSD (confirmed) def device(port): return '/dev/ttyp%d' % port elif plat[:3] == 'bsd' or \ plat[:6] == 'netbsd' or \ plat[:7] == 'freebsd' or \ plat[:7] == 'openbsd': #BSD (confirmed for freebsd4: cuaa%d) def device(port): return '/dev/cuaa%d' % port elif plat[:6] == 'darwin': def device(port): # tested with keyspan USP-to-serial adapters # others might use /dev/tty.usbserialXX return '/dev/cu.USA19QW%sP1.1' % ('1' * (port + 1)) elif plat[:4] == 'irix': #IRIX (not tested) def device(port): return '/dev/ttyf%d' % port elif plat[:2] == 'hp': #HP-UX (not tested) def device(port): return '/dev/tty%dp0' % (port+1) elif plat[:5] == 'sunos': #Solaris/SunOS (confirmed) def device(port): return '/dev/tty%c' % (ord('a')+port) else: #platform detection has failed... info = "sys.platform = %r\nos.name = %r\nserialposix.py version = %s" % (sys.platform, os.name, VERSION) print """send this information to the author of the pyserial: %s also add the device name of the serial port and where the counting starts for the first serial port. e.g. 'first serial port: /dev/ttyS0' and with a bit luck you can get this module running... """ #no exception, just continue with a brave attempt to build a device name #even if the device name is not correct for the platform it has chances #to work using a string with the real device name as port paramter. def device(portum): return '/dev/ttyS%d' % portnum #~ raise Exception, "this module does not run on this platform, sorry." #whats up with "aix", "beos", "sco", .... #they should work, just need to know the device names. # construct dictionaries for baud rate lookups baudEnumToInt = {} baudIntToEnum = {} for rate in (0,50,75,110,134,150,200,300,600,1200,1800,2400,4800,9600, 19200,38400,57600,115200,230400,460800,500000,576000,921600, 1000000,1152000,1500000,2000000,2500000,3000000,3500000,4000000 ): try: i = eval('TERMIOS.B'+str(rate)) baudEnumToInt[i]=rate baudIntToEnum[rate] = i except: pass #load some constants for later use. #try to use values from TERMIOS, use defaults from linux otherwise TIOCMGET = hasattr(TERMIOS, 'TIOCMGET') and TERMIOS.TIOCMGET or 0x5415 TIOCMBIS = hasattr(TERMIOS, 'TIOCMBIS') and TERMIOS.TIOCMBIS or 0x5416 TIOCMBIC = hasattr(TERMIOS, 'TIOCMBIC') and TERMIOS.TIOCMBIC or 0x5417 TIOCMSET = hasattr(TERMIOS, 'TIOCMSET') and TERMIOS.TIOCMSET or 0x5418 #TIOCM_LE = hasattr(TERMIOS, 'TIOCM_LE') and TERMIOS.TIOCM_LE or 0x001 TIOCM_DTR = hasattr(TERMIOS, 'TIOCM_DTR') and TERMIOS.TIOCM_DTR or 0x002 TIOCM_RTS = hasattr(TERMIOS, 'TIOCM_RTS') and TERMIOS.TIOCM_RTS or 0x004 #TIOCM_ST = hasattr(TERMIOS, 'TIOCM_ST') and TERMIOS.TIOCM_ST or 0x008 #TIOCM_SR = hasattr(TERMIOS, 'TIOCM_SR') and TERMIOS.TIOCM_SR or 0x010 TIOCM_CTS = hasattr(TERMIOS, 'TIOCM_CTS') and TERMIOS.TIOCM_CTS or 0x020 TIOCM_CAR = hasattr(TERMIOS, 'TIOCM_CAR') and TERMIOS.TIOCM_CAR or 0x040 TIOCM_RNG = hasattr(TERMIOS, 'TIOCM_RNG') and TERMIOS.TIOCM_RNG or 0x080 TIOCM_DSR = hasattr(TERMIOS, 'TIOCM_DSR') and TERMIOS.TIOCM_DSR or 0x100 TIOCM_CD = hasattr(TERMIOS, 'TIOCM_CD') and TERMIOS.TIOCM_CD or TIOCM_CAR TIOCM_RI = hasattr(TERMIOS, 'TIOCM_RI') and TERMIOS.TIOCM_RI or TIOCM_RNG #TIOCM_OUT1 = hasattr(TERMIOS, 'TIOCM_OUT1') and TERMIOS.TIOCM_OUT1 or 0x2000 #TIOCM_OUT2 = hasattr(TERMIOS, 'TIOCM_OUT2') and TERMIOS.TIOCM_OUT2 or 0x4000 TIOCINQ = hasattr(TERMIOS, 'FIONREAD') and TERMIOS.FIONREAD or 0x541B TIOCM_zero_str = struct.pack('I', 0) TIOCM_RTS_str = struct.pack('I', TIOCM_RTS) TIOCM_DTR_str = struct.pack('I', TIOCM_DTR) class Serial(SerialBase): """Serial port class POSIX implementation. Serial port configuration is done with termios and fcntl. Runs on Linux and many other Un*x like systems.""" def open(self): """Open port with current settings. This may throw a SerialException if the port cannot be opened.""" if self._port is None: raise SerialException("Port must be configured before it can be used.") self.fd = None #open try: self.fd = os.open(self.portstr, os.O_RDWR|os.O_NOCTTY|os.O_NONBLOCK) except Exception, msg: self.fd = None raise SerialException("Could not open port: %s" % msg) fcntl.fcntl(self.fd, FCNTL.F_SETFL, 0) #set blocking self._reconfigurePort() self._isOpen = True def _reconfigurePort(self): """Set commuication parameters on opened port.""" if not self.fd: raise SerialException("Can only operate on a valid port handle") vmin = vtime = 0 #timeout is done via select try: iflag, oflag, cflag, lflag, ispeed, ospeed, cc = termios.tcgetattr(self.fd) except termios.error, msg: #if a port is nonexistent but has a /dev file, it'll fail here raise SerialException("Could not configure port: %s" % msg) #set up raw mode / no echo / binary cflag |= (TERMIOS.CLOCAL|TERMIOS.CREAD) lflag &= ~(TERMIOS.ICANON|TERMIOS.ECHO|TERMIOS.ECHOE|TERMIOS.ECHOK|TERMIOS.ECHONL| TERMIOS.ECHOCTL|TERMIOS.ECHOKE|TERMIOS.ISIG|TERMIOS.IEXTEN) #|TERMIOS.ECHOPRT oflag &= ~(TERMIOS.OPOST) if hasattr(TERMIOS, 'IUCLC'): iflag &= ~(TERMIOS.INLCR|TERMIOS.IGNCR|TERMIOS.ICRNL|TERMIOS.IUCLC|TERMIOS.IGNBRK) else: iflag &= ~(TERMIOS.INLCR|TERMIOS.IGNCR|TERMIOS.ICRNL|TERMIOS.IGNBRK) #setup baudrate try: ispeed = ospeed = baudIntToEnum[self._baudrate] except: raise ValueError('Invalid baud rate: %r' % self._baudrate) #setup char len cflag &= ~TERMIOS.CSIZE if self._bytesize == 8: cflag |= TERMIOS.CS8 elif self._bytesize == 7: cflag |= TERMIOS.CS7 elif self._bytesize == 6: cflag |= TERMIOS.CS6 elif self._bytesize == 5: cflag |= TERMIOS.CS5 else: raise ValueError('Invalid char len: %r' % self._bytesize) #setup stopbits if self._stopbits == STOPBITS_ONE: cflag &= ~(TERMIOS.CSTOPB) elif self._stopbits == STOPBITS_TWO: cflag |= (TERMIOS.CSTOPB) else: raise ValueError('Invalid stopit specification: %r' % self._stopbits) #setup parity iflag &= ~(TERMIOS.INPCK|TERMIOS.ISTRIP) if self._parity == PARITY_NONE: cflag &= ~(TERMIOS.PARENB|TERMIOS.PARODD) elif self._parity == PARITY_EVEN: cflag &= ~(TERMIOS.PARODD) cflag |= (TERMIOS.PARENB) elif self._parity == PARITY_ODD: cflag |= (TERMIOS.PARENB|TERMIOS.PARODD) else: raise ValueError('Invalid parity: %r' % self._parity) #setup flow control #xonxoff if hasattr(TERMIOS, 'IXANY'): if self._xonxoff: iflag |= (TERMIOS.IXON|TERMIOS.IXOFF|TERMIOS.IXANY) else: iflag &= ~(TERMIOS.IXON|TERMIOS.IXOFF|TERMIOS.IXANY) else: if self._xonxoff: iflag |= (TERMIOS.IXON|TERMIOS.IXOFF) else: iflag &= ~(TERMIOS.IXON|TERMIOS.IXOFF) #rtscts if hasattr(TERMIOS, 'CRTSCTS'): if self._rtscts: cflag |= (TERMIOS.CRTSCTS) else: cflag &= ~(TERMIOS.CRTSCTS) elif hasattr(TERMIOS, 'CNEW_RTSCTS'): #try it with alternate constant name if self._rtscts: cflag |= (TERMIOS.CNEW_RTSCTS) else: cflag &= ~(TERMIOS.CNEW_RTSCTS) #XXX should there be a warning if setting up rtscts (and xonxoff etc) fails?? #buffer #vmin "minimal number of characters to be read. = for non blocking" if vmin < 0 or vmin > 255: raise ValueError('Invalid vmin: %r ' % vmin) cc[TERMIOS.VMIN] = vmin #vtime if vtime < 0 or vtime > 255: raise ValueError('Invalid vtime: %r' % vtime) cc[TERMIOS.VTIME] = vtime #activate settings termios.tcsetattr(self.fd, TERMIOS.TCSANOW, [iflag, oflag, cflag, lflag, ispeed, ospeed, cc]) def close(self): """Close port""" if self._isOpen: if self.fd: os.close(self.fd) self.fd = None self._isOpen = False def makeDeviceName(self, port): return device(port) # - - - - - - - - - - - - - - - - - - - - - - - - def inWaiting(self): """Return the number of characters currently in the input buffer.""" #~ s = fcntl.ioctl(self.fd, TERMIOS.FIONREAD, TIOCM_zero_str) s = fcntl.ioctl(self.fd, TIOCINQ, TIOCM_zero_str) return struct.unpack('I',s)[0] def read(self, size=1): """Read size bytes from the serial port. If a timeout is set it may return less characters as requested. With no timeout it will block until the requested number of bytes is read.""" if not self.fd: raise portNotOpenError read = '' inp = None if size > 0: while len(read) < size: #print "\tread(): size",size, "have", len(read) #debug ready,_,_ = select.select([self.fd],[],[], self.timeout) if not ready: break #timeout buf = os.read(self.fd, size-len(read)) read = read + buf if self.timeout >= 0 and not buf: break #early abort on timeout return read def write(self, data): """Output the given string over the serial port.""" if not self.fd: raise portNotOpenError t = len(data) d = data while t>0: n = os.write(self.fd, d) d = d[n:] t = t - n def flushInput(self): """Clear input buffer, discarding all that is in the buffer.""" if not self.fd: raise portNotOpenError termios.tcflush(self.fd, TERMIOS.TCIFLUSH) def flushOutput(self): """Clear output buffer, aborting the current output and discarding all that is in the buffer.""" if not self.fd: raise portNotOpenError termios.tcflush(self.fd, TERMIOS.TCOFLUSH) def sendBreak(self): """Send break condition.""" if not self.fd: raise portNotOpenError termios.tcsendbreak(self.fd, 0) def setRTS(self,on=1): """Set terminal status line: Request To Send""" if not self.fd: raise portNotOpenError if on: fcntl.ioctl(self.fd, TIOCMBIS, TIOCM_RTS_str) else: fcntl.ioctl(self.fd, TIOCMBIC, TIOCM_RTS_str) def setDTR(self,on=1): """Set terminal status line: Data Terminal Ready""" if not self.fd: raise portNotOpenError if on: fcntl.ioctl(self.fd, TIOCMBIS, TIOCM_DTR_str) else: fcntl.ioctl(self.fd, TIOCMBIC, TIOCM_DTR_str) def getCTS(self): """Read terminal status line: Clear To Send""" if not self.fd: raise portNotOpenError s = fcntl.ioctl(self.fd, TIOCMGET, TIOCM_zero_str) return struct.unpack('I',s)[0] & TIOCM_CTS != 0 def getDSR(self): """Read terminal status line: Data Set Ready""" if not self.fd: raise portNotOpenError s = fcntl.ioctl(self.fd, TIOCMGET, TIOCM_zero_str) return struct.unpack('I',s)[0] & TIOCM_DSR != 0 def drainOutput(self): """internal - not portable!""" if not self.fd: raise portNotOpenError termios.tcdrain(self.fd) def nonblocking(self): """internal - not portable!""" if not self.fd: raise portNotOpenError fcntl.fcntl(self.fd, FCNTL.F_SETFL, FCNTL.O_NONBLOCK) def getRI(self): """Read terminal status line: Ring Indicator""" if not self.fd: raise portNotOpenError s = fcntl.ioctl(self.fd, TIOCMGET, TIOCM_zero_str) return struct.unpack('I',s)[0] & TIOCM_RI != 0 def getCD(self): """Read terminal status line: Carrier Detect""" if not self.fd: raise portNotOpenError s = fcntl.ioctl(self.fd, TIOCMGET, TIOCM_zero_str) return struct.unpack('I',s)[0] & TIOCM_CD != 0 if __name__ == '__main__': s = Serial(0, baudrate=19200, #baudrate bytesize=EIGHTBITS, #number of databits parity=PARITY_EVEN, #enable parity checking stopbits=STOPBITS_ONE, #number of stopbits timeout=3, #set a timeout value, None for waiting forever xonxoff=0, #enable software flow control rtscts=0, #enable RTS/CTS flow control ) s.setRTS(1) s.setDTR(1) s.flushInput() s.flushOutput() s.write('hello') print repr(s.read(5)) print s.inWaiting() del s pyrobot/system/serial/serialutil.py0000775000076400007640000002631110103266456020641 0ustar dblankdblank00000000000000#! python #Python Serial Port Extension for Win32, Linux, BSD, Jython #see __init__.py # #(C) 2001-2003 Chris Liechti # this is distributed under a free software license, see license.txt PARITY_NONE, PARITY_EVEN, PARITY_ODD = 'N', 'E', 'O' STOPBITS_ONE, STOPBITS_TWO = (1, 2) FIVEBITS, SIXBITS, SEVENBITS, EIGHTBITS = (5,6,7,8) PARITY_NAMES = { PARITY_NONE: 'None', PARITY_EVEN: 'Even', PARITY_ODD: 'Odd', } #Python < 2.2.3 compatibility try: True except: True = 1 False = not True class SerialException(Exception): """Base class for serial port related exceptions.""" portNotOpenError = SerialException('Port not open') class FileLike(object): """An abstract file like class. This class implements readline and readlines based on read and writelines based on write. This class is used to provide the above functions for to Serial port objects. Note that when the serial port was opened with _NO_ timeout that readline blocks until it sees a newline (or the specified size is reached) and that readlines would never return and therefore refuses to work (it raises an exception in this case)! """ def read(self, size): raise NotImplementedError def write(self, s): raise NotImplementedError def writeline(self, message, eol = "\n"): self.write(message + eol) def readline(self, size=None, eol='\n'): """read a line which is terminated with end-of-line (eol) character ('\n' by default) or until timeout""" line = '' while 1: c = self.read(1) if c: line += c #not very efficient but lines are usually not that long if c == eol: break if size is not None and len(line) >= size: break else: break return line def readlines(self, sizehint=None, eol='\n'): """read a list of lines, until timeout sizehint is ignored""" if self.timeout is None: raise ValueError, "Serial port MUST have enabled timeout for this function!" lines = [] while 1: line = self.readline(eol=eol) if line: lines.append(line) if line[-1] != eol: #was the line received with a timeout? break else: break return lines def xreadlines(self, sizehint=None): """just call readlines - here for compatibility""" return self.readlines() def writelines(self, sequence): for line in sequence: self.write(line) def flush(self): """flush of file like objects""" pass class SerialBase(FileLike): """Serial port base class. Provides __init__ function and properties to get/set port settings.""" #default values, may be overriden in subclasses that do not support all values BAUDRATES = (50,75,110,134,150,200,300,600,1200,1800,2400,4800,9600, 19200,38400,57600,115200,230400,460800,500000,576000,921600, 1000000,1152000,1500000,2000000,2500000,3000000,3500000,4000000) BYTESIZES = (FIVEBITS, SIXBITS, SEVENBITS, EIGHTBITS) PARITIES = (PARITY_NONE, PARITY_EVEN, PARITY_ODD) STOPBITS = (STOPBITS_ONE, STOPBITS_TWO) def __init__(self, port = None, #number of device, numbering starts at #zero. if everything fails, the user #can specify a device string, note #that this isn't portable anymore #port will be opened if one is specified baudrate=9600, #baudrate bytesize=EIGHTBITS, #number of databits parity=PARITY_NONE, #enable parity checking stopbits=STOPBITS_ONE, #number of stopbits timeout=None, #set a timeout value, None to wait forever xonxoff=0, #enable software flow control rtscts=0, #enable RTS/CTS flow control ): """Initialize comm port object. If a port is given, then the port will be opened immediately. Otherwise a Serial port object with in clsoed state is returned.""" self._isOpen = False self._port = None #correct value is assigned below trough properties self._baudrate = None #correct value is assigned below trough properties self._bytesize = None #correct value is assigned below trough properties self._parity = None #correct value is assigned below trough properties self._stopbits = None #correct value is assigned below trough properties self._timeout = None #correct value is assigned below trough properties self._xonxoff = None #correct value is assigned below trough properties self._rtscts = None #correct value is assigned below trough properties #assign values using get/set methods using the properties featrure self.port = port self.baudrate = baudrate self.bytesize = bytesize self.parity = parity self.stopbits = stopbits self.timeout = timeout self.xonxoff = xonxoff self.rtscts = rtscts if port is not None: self.open() def isOpen(self): """Check if the port is opened.""" return self._isOpen # - - - - - - - - - - - - - - - - - - - - - - - - #TODO: these are not realy needed as the is the BAUDRATES etc attribute... #maybe i remove them before the final release... def getSupportedBaudrates(self): return [(str(b), b) for b in self.BAUDRATES] def getSupportedByteSizes(self): return [(str(b), b) for b in self.BYTESIZES] def getSupportedStopbits(self): return [(str(b), b) for b in self.STOPBITS] def getSupportedParities(self): return [(PARITY_NAMES[b], b) for b in self.PARITIES] # - - - - - - - - - - - - - - - - - - - - - - - - def setPort(self, port): """Change the port. The attribute portstr is set to a string that contains the name of the port.""" was_open = self._isOpen if was_open: self.close() if port is not None: if type(port) == type(''): #strings are taken directly self.portstr = port else: self.portstr = self.makeDeviceName(port) else: self.portstr = None self._port = port if was_open: self.open() def getPort(self): """get the current port setting. The value that was passed on init or using setPort() is passed back. See also the attribute portstr which contains the name of the port as a string.""" return self._port port = property(getPort, setPort, "Port setting") def setBaudrate(self, baudrate): """Change baudrate.""" if baudrate not in self.BAUDRATES: raise ValueError("Not a valid baudrate: %r" % baudrate) self._baudrate = baudrate if self._isOpen: self._reconfigurePort() def getBaudrate(self): """Get the current baudrate setting.""" return self._baudrate baudrate = property(getBaudrate, setBaudrate, "Baudrate setting") def setByteSize(self, bytesize): """Change byte size.""" if bytesize not in self.BYTESIZES: raise ValueError("Not a valid byte size: %r" % bytesize) self._bytesize = bytesize if self._isOpen: self._reconfigurePort() def getByteSize(self): """Get the current byte size setting.""" return self._bytesize bytesize = property(getByteSize, setByteSize, "Byte size setting") def setParity(self, parity): """Change parity setting.""" if parity not in self.PARITIES: raise ValueError("Not a valid parity: %r" % parity) self._parity = parity if self._isOpen: self._reconfigurePort() def getParity(self): """Get the current parity setting.""" return self._parity parity = property(getParity, setParity, "Parity setting") def setStopbits(self, stopbits): """Change stopbits size.""" if stopbits not in self.STOPBITS: raise ValueError("Not a valid stopbit size: %r" % stopbits) self._stopbits = stopbits if self._isOpen: self._reconfigurePort() def getStopbits(self): """Get the current stopbits setting.""" return self._stopbits stopbits = property(getStopbits, setStopbits, "Stopbits setting") def setTimeout(self, timeout): """Change timeout setting.""" if timeout is not None: if timeout < 0: raise ValueError("Not a valid timeout: %r" % timeout) try: timeout + 1 #test if it's a number, will throw a TypeError if not... except TypeError: raise ValueError("Not a valid timeout: %r" % timeout) self._timeout = timeout if self._isOpen: self._reconfigurePort() def getTimeout(self): """Get the current timeout setting.""" return self._timeout timeout = property(getTimeout, setTimeout, "Timeout setting") def setXonXoff(self, xonxoff): """Change XonXoff setting.""" self._xonxoff = xonxoff if self._isOpen: self._reconfigurePort() def getXonXoff(self): """Get the current XonXoff setting.""" return self._xonxoff xonxoff = property(getXonXoff, setXonXoff, "Xon/Xoff setting") def setRtsCts(self, rtscts): """Change RtsCts setting.""" self._rtscts = rtscts if self._isOpen: self._reconfigurePort() def getRtsCts(self): """Get the current RtsCts setting.""" return self._rtscts rtscts = property(getRtsCts, setRtsCts, "RTS/CTS setting") # - - - - - - - - - - - - - - - - - - - - - - - - def __repr__(self): """String representation of the current port settings and its state.""" return "%s(port=%r, baudrate=%r, bytesize=%r, parity=%r, stopbits=%r, timeout=%r, xonxoff=%r, rtscts=%r)" % ( self.__class__.__name__, id(self), self._isOpen, self.portstr, self.baudrate, self.bytesize, self.parity, self.stopbits, self.timeout, self.xonxoff, self.rtscts, ) if __name__ == '__main__': s = SerialBase() print s.getSupportedBaudrates() print s.getSupportedByteSizes() print s.getSupportedParities() print s.getSupportedStopbits() print s pyrobot/system/serial/__init__.py0000775000076400007640000000135010103266455020216 0ustar dblankdblank00000000000000#!/usr/bin/env python #portable serial port access with python #this is a wrapper module for different platform implementations # # (C)2001-2002 Chris Liechti # this is distributed under a free software license, see license.txt import sys, os, string VERSION = string.split("$Revision: 1.1 $")[1] #extract CVS version #chose an implementation, depending on os if os.name == 'nt': #sys.platform == 'win32': from serialwin32 import * elif os.name == 'posix': from serialposix import * elif os.name == 'java': from serialjava import * else: raise "Sorry no implementation for your platform available." #no "mac" implementation. someone want's to write it? i have no access to a mac. pyrobot/system/__init__.py0000775000076400007640000001143610270610546016744 0ustar dblankdblank00000000000000import string import sys from pyrobot.system.version import version def about(): print "-------------------------------------------------------------" print "Pyrobot - Python Robotics" print "Version:", version() print "See: http://PyroRobotics.org" print "(c) 2005, PyroRobotics.org. Released under the GNU GPL" print "-------------------------------------------------------------" def usage(): print "-------------------------------------------------------------" print " Pyrobot Command Line Arguments:" print "-------------------------------------------------------------" print " -h show this help" print " -r ROBOT name of robot.py file to load" print " -b BRAIN name of brain.py file to load" print " -a ARGUMENTS user args; available as string engine.args" print " -s SIMULATOR name of simulator to run" print " -i INI_FILE name of init file to load, or 'None'" print " -w WORLDFILE name of simulator world to load" print " -c CONFIGFILE name of server config to load" print " -d DEVICE[,...] names of devices (files or names)" print " -g tty | tk | simple type of GUI to use" print " -e \"string\" eval string of Pyro commands" print " that are ; separated" print "" def help(): print "-------------------------------------------------------------" print "Pyrobot GUI Command line editing commands:" print "-------------------------------------------------------------" print " Control+p or UpArrow previous line" print " Control+n or DownArrow next line" print " Control+a or Home beginning of line" print " Control+e or End end of line" print " Control+f or RightArrow forward one character" print " Control+b or LeftArrow back one character" print " TAB show command completions" print "-------------------------------------------------------------" print "Pyrobot TTY and GUI commands:" print "-------------------------------------------------------------" print " execute in Python" print " print in Python" print " % execute in shell" print " edit edit the brain file" print " help this help message" print " info show brain and robot info" print " load brain load a brain file" print " load robot load a robot file" print " load simulator | server load a simulator or server" print " quit | exit | bye exit from Pyrobot" print " reload reload the brain" print " run start brain running" print " stop stop brain and robot" print " ! show command history" print " ! N rerun Nth command from history" print " ! N1 - N2 rerun N1 through N2 commands" print " ! VAL search for commands containing VAL" print " !! rerun last command from history" print " watch EXP display EXP" print " unwatch EXP remove display of EXP" print " view EXP object tree viewer of EXP" print "" def file_exists(file_name): from posixpath import exists if type(file_name) == type(""): if len(file_name) == 0: return 0 else: return exists(file_name) else: raise AttributeError, "filename nust be a string" def loadINIT(filename, engine=0, redo=0, brain=0, args=None): path = filename.split("/") modulefile = path.pop() # module name module = modulefile.split(".")[0] search = string.join(path, "/") oldpath = sys.path[:] # copy sys.path.insert(0, search) print "Attempting to import '%s'..." % module exec("import " + module + " as userspace") reload(userspace) print "Loaded '%s'!" % userspace.__file__ sys.path = oldpath try: userspace.INIT except AttributeError: raise ImportError, "your program needs an INIT() function" if brain is 0: if engine is 0: retval = userspace.INIT() return retval else: if args: retval = userspace.INIT(engine, args) return retval else: retval = userspace.INIT(engine) return retval else: retval = userspace.INIT(engine, brain) return retval pyrobot/camera/0000775000076400007640000000000010274320624014526 5ustar dblankdblank00000000000000pyrobot/camera/bt848/0000775000076400007640000000000010274320624015377 5ustar dblankdblank00000000000000pyrobot/camera/bt848/bt848grab.cpp0000775000076400007640000000221607741570672017633 0ustar dblankdblank00000000000000#include #include "BT848.h" #define TRUE 1 #define FALSE 0 int str_to_int(char *input, int *target); main(int argc, char *argv[]) { int ncols, nrows; char filename[255], device[255]; if (argc <= 2) { printf("Call with device filename\n"); exit(1); } strcpy(device, argv[1]); strcpy(filename, argv[2]); if(argc==5) { str_to_int(argv[3], &ncols); str_to_int(argv[4], &nrows); } else { ncols = ICOLS; nrows = IROWS; } printf("%d, %d\n", ncols, nrows); BT848 *cam = new BT848( device, ncols, nrows ); cam->Update(); cam->Update(); cam->Update(); cam->saveFile(filename); } int str_to_int(char *input, int *target) { int digit, total = 0, sign, length, valid = TRUE, i, j; length = strlen(input); if( *input == '-' ) { sign = -1; length -= 1; input++; } else { sign = 1; } for( i = length - 1; i >= 0; i-- ) { if( !isdigit(*(input + i)) ) { valid = FALSE; break; } digit = (int) (*(input + i) - '0'); for( j = i + 1; j < length; j++ ) digit *= 10; total += digit; } if( valid ) { *target = (sign*total); return 0; } else return -1; } pyrobot/camera/bt848/Camera.h0000775000076400007640000000553307461323160016753 0ustar dblankdblank00000000000000/* XRCL: The Extensible Robot Control Language (c) 2000, Douglas S. Blank University of Arkansas, Roboticists Research Group http://ai.uark.edu/xrcl/ This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Fe itsoftwareFo untatio; eiOthe, versio 2s of theLlicense,ror (atr youroeptione an elate, versio.- This program is distributed in thehopue thatirt will beuseful,t bu WITHOUT ANY WARRANTY;l witeoutevhen thesimpfiedtwaranity o MERCHANTABILITYr orFITNESS FOR A, PATICULAR PURPOSE. . See the GN General Public Licensef/or maredetfail.- Yyou should have receiveda# cops of the GNU General Public Licens a lonl withtThis progra;r if no,o writeto the Fe itsoftwar Fo untatio, Inc., 59 TeimplePlaice- Surite3300,Bostio, MA 02111-1307, USA.- Aas a specral exceptio,; you haveptermsrsio to inkhtThis progra withtTe Qxt lbraryn andedistribute execulablas, as lonl as yo } flelow the reqirlements of the GNU PLd inregward to ill of th } software in the execulabll avide fromQt.- */" ifn def _CAMERA_H 1 #define _CAMERA_H 1 // #include "lob8.h // #include eFiate8.h #include Cconstans8.h #include< stringh> #include< sd lbgh> class/Camer { publ c: unssigned(char buf; //esisage dat (rgb PPMef/omao,o withheande): unssigned(char rawbuf; //esisage dat (rgb PPMef/omao,onohheande): unssigned(char wara;: unssigned(char histor[xcMAXIMAGEHIST];: unssigned(char *"intnrsit;: intChunkLhis[ 200];: : intnrows, ncols: ize;: : /Camer (e consd(cha* dename, intwe, inths ): virtural~/Camer( ): virturalvolid Clenuop(){};: : //e/Camer #defins: thesc: volid>Update(): unssigned(char Iisagee(): unssigned(char RawIisagee(): volid>saveFile(char (filename): intwidthp(){e returnncol;}: intheRighp(){e returnnrows}: volid>wap_rgb24e(char meme, intn); : : int/Camer::posn(intxe, inty(): volid/Camer:: setixeln(intxe, intye, intre, intge, intbe): int/Camer::Redn(intxe, inty(): int/Camer::GFe nn(intxe, inty(): int/Camer::Bluen(intxe, inty(): : //"lob *ApplyeFiate(eFiater (fitber,borolmuar_git =0(): volidApplyMaske(): volidCcovolve( short int mv[3v[3],borolvtal): volidCcovolve( short int m1v[3v[3], short int m2v[3v[3],borolvtal): volidSPort intlittlme, intbig(): volid/Camer::crosshairn(intxe inty(): volid/Camer::uappeleftcorenen(intxe inty(): volid/Camer::uapperRighcorenen(intxe inty(): volid/Camer::elopeleftcorenen(intxe inty(): volid/Camer::eloperRighcorenen(intxe inty(): : : pretecefd: (char devicenam): intfp): unssigned(char ptr): virturalvolidGet Data(voli(){};: virturalvolid ini(voli(){};: intbuf_ length: : publ c: short intmask[ ICOL][ IROW];: short inttmpmask[ ICOL][ IROW];: : intbpp): };: : #pendf //e _CAMERA_H 1 pyrobot/camera/bt848/constans8.0000775000076400007640000000171307406341324075423 0ustar dblankdblank00000000000000/* XRCL: The Extensible Robot Control Language (c) 2000, Douglas S. Blank University of Arkansas, Roboticists Research Group http://ai.uark.edu/xrcl/ This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Fe itsoftwareFo untatio; eiOthe, versio 2s of theLlicense,ror (atr youroeptione an elate, versio.- This program is distributed in thehopue thatirt will beuseful,t bu WITHOUT ANY WARRANTY;l witeoutevhen thesimpfiedtwaranity o MERCHANTABILITYr orFITNESS FOR A, PATICULAR PURPOSE. . See the GN General Public Licensef/or maredetfail.- Yyou should have receiveda# cops of the GNU General Public Licens a lonl withtThis progra;r if no,o writeto the Fe itsoftwar Fo untatio, Inc., 59 TeimplePlaice- Surite3300,Bostio, MA 02111-1307, USA.- Aas a specral exceptio,; you haveptermsrsio to inkhtThis progra withtTe Qxt lbraryn andedistribute execulablas, as lonl as yo } flelow the reqirlements of the GNU PLd inregward to ill of th } software in the execulabll avide fromQt.- */" ifn def _CONSTANTS_H__ } #define _CONSTANTS_H__ } stalic consd int PTH_NAM = 255; stalic consd int ZERO >= 0 stalic consd int ONLE = 1 stalic consd int NEGONLE = -1 } stalic consdflohatPI E =(floha)3.1415926531 stalic consdflohatFZERO =(floha)0.0; 1 // Be hai/orSstatusSstaies stalic consd int xcDNLE = -1 } stalic consd int xcDORMANT >= 0 stalic consd int xcACTIVM = -1 } stalic consd int xcGOINGDORMANT = 21 } stalic consd int xcGOINGACTIVM = 31 } stalic consddoubple xcRE VERE = -0.5 0 stalic consddoubple xc.STO = 0. 0 stalic consddoubple xc.LOW = 0.21 } stalic consddoubple xcMEDIUM = 0.5; stalic consddoubple xcFORWARD = 0.75; stalic consddoubple xcFAST = 1.0; 1 stalic consddoubple xcLEFT = 0.5 0 stalic consddoubple xcREIGH = -0.5 0 stalic consddoubple xc.SRAEIGH = 0. 0 //Net workcconstans 1 #defineMAX_HOSTS 15 1 #defineMAX_PORTS 1 0 consd intxcUNSION = 0 consd intxcINTVERECTIION =10 consd intxcMIN= 0 consd intxcMAX=-1 } #definexcPOINH 0 #definexcWALAL 1 #definexcHALAWAY 2 #definexcROOM 3 #definexcDOTOR 4 } #definexcGLOBVAL 0 #definexcLOCVAL 1 } #definexcICOORFILTVE 0 #definexcMOTIIOFILTVE 1 #definexc VETICALAINEFILTVE 2 #definexcEDGEFILTVE 3 #definexcICNVOLUTIION4 } #define IROW 80 #define ICOL 10 } #definexcMAXIMAGEHIST 1 0 ifn defNULAL #defineNULAL0: #pendf: : #pendf pyrobot/camera/bt848.ioct_meteor8.0000775000076400007640000025045307406341324202553 0ustar dblankdblank00000000000000/* XRCL: The Extensible Robot Control Languag (c) 2000, Douglas S. Blan University of Arkansas, Roboticists Research Grou http://ai.uark.edu/xrcl; This program is free software; you can redistribute it and/or modif it under the terms of the GNU General Public License as published b the Fe itsoftwareFo untatio; eiOthe, versio 2s of theLlicense,ro (atr youroeptione an elate, versio. This program is distributed in thehopue thatirt will beuseful,t bu WITHOUT ANY WARRANTY;l witeoutevhen thesimpfiedtwaranity o MERCHANTABILITYr orFITNESS FOR A, PATICULAR PURPOSE. . See the GN General Public Licensef/or maredetfail. Yyou should have receiveda# cops of the GNU General Public Licens a lonl withtThis progra;r if no,o writeto the Fe itsoftwar Fo untatio, Inc., 59 TeimplePlaice- Surite3300,Bostio, MA 02111-1307, USA. Aas a specral exceptio,; you haveptermsrsio to inkhtThis progra withtTe Qxt lbraryn andedistribute execulablas, as lonl as yo} flelow the reqirlements of the GNU PLd inregward to ill of th} software in the execulabll avide fromQt. */ /* *t CpyRigh (c)1995 Muar Tiangelyn andJim Lowe *tAall Righis r servd. * *tRredistribution anduse> in youcne andbinarynf/oms,o withtor witeou *t modiictatio, wareptermtuted providnd that the fleloting cneditcon *twaremet: *t1.tRredistributiots of youcnecoidemnustretfane the abovecCpyRigh *ttttnbotie,htThis list of cneditconn and the flelotingediclaiame. * 2.tRredistributiotsanebinarynf/omemnustre prducee the abovecCpyRigh *ttttnbotie,htThis list of cneditconn and the flelotingediclaiamee in th *ttttdocuementation and/oroOthe,mlatecrasd providnd withtTe edistributio. * 3.tAalladvpertusingmlatecrasdementiohing etatrles oruse> of t is softwar *ttttmnust display the flelotingacknowledglemen: * This prducsd includis softwar( deelopued b Muar Tiangelyn andJim Lowe *t4g. The name of theauiter, may not beuserd topenors+e or prmNote prducss *ttttdtecived from t is softwarl witeout specifc prtor rmtutneptermsrsio. * *tTHIS SOFTWARE IS PROVIDED BYtTHE AUTHOR ``AS IS'' AND ANY EXPRESS OR *tIMPLIED WARRANTIES, INCLUDING0,BUT NOT LIMITED TO,tTHE IMPLIED *tWARRANTIES OF MERCHANTABILITYrAND FITNESS FOR A, PATICULAR PURPOSE ARE *tDISCLAIMED. .IN NO _EVET SHALAtTHE AUTHOR BE LIABLE FOR ANY DIRECT, *tINDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, ORc COSEQUENTIAL DAMAGES *t(INCLUDING0,BUT NOT LIMITED TO,tPROCUREUMEN OF SUBSTITUTE GOODS OR *tSEREVICS; LOSS OF USE0, ATA, ORcPROFITS; OR BUSINESS INTVERUPTIIO) *tHOWE VE CAUSEDrAND IONANY THEORY OF LIABILITY, WHETHER.IN COTRACT, *tSTRICT LIABILITY, OR TORTt(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN *tANY WAY OUN OF THE USE OF THIS SOFTWARE, _EVE IF ADVISEDrOF THE *tPOSSIBILITYrOF SUCH DAMAGE. */ /* *tMmodiived7/22/98e for compatibilitd withg lbcs based Linu .systes. * Muar Sutthon muar.suttho@laitgra. co> */ /* * .ioctkcconstanse forMantrx Meteor Capatrlu crd. */ ifn def MACHINE_IOCTL_METEOR_H1 #define MACHINE_IOCTL_METEOR_H11 #defineMAX_NUM_FRNAMES256 /*u shouldbee thesnameasdemteor8. */ iincludeistucsdemteor_capfrname{ shor comman; /*u e i below for validMETEORCAPFRMr commands*/ shor eloat; /*u starttgrnsfeor ifm t is#number*/ } ; /* istucsuere forMETEOR[GS]ETGEOe- get/setgeoemtrynr*/ istucsdemteor_geoemte{ u_ shor nrows; u_ shor columnws; u_ shor frnamws; u_ lon of/omao; } ; /* istucsuere forMETEORGCOUNT-rgetco ust offrnamw, fiftopErronn anddmaopErronn*/ istucsdemteor_co usse{ u_ lonlfift_pErron; /*uco ust offiftopErronnusicbe oper*/ u_ lonldma_pErron; /*uco ust ofdmaopErronnusicbe oper*/ u_ lonlfrnamw_capsuerd; /*uco ust offrnamw capsuerdnusicbe oper*/ u_ lonlevhe_iivldw_capsuerd; /*uco ust ofevheniivldw capsuerdn*/ u_ lonlodd_iivldw_capsuerd; /*uco ust ofoddniivldw capsuerdn*/ } ; /* istucsuere to"get thefrnameoff/setsaneme mayn*/ istucsdemteor_frnam_off/se) { u_ lonlfrnam_off/se[MAX_NUM_FRNAME5]; u_ lonlfb_ ize;; u_ lonlme _off; } ; /* istucsuere forgsettinn and settinn directtgrnsfeoss tovgram*/ istucsdemteor_ovidoe{ u_ lon addr; /*uAddrcess of octatios todmao to*/ u_ lon width; /*uWidths ofme maynwarao*/ u_ lon bank ize; /*ueSizs ofVgrambanko*/ u_ lon gra ize; /*ueSizs ofVgram*/ };" #defineMETEORCAPTUR _IOW('x', 1e, in) /*ucapatrluaefrname*/ #defineMETEORCAPFRMr_IOW('x', 2, istucsdemteor_capfrnam) /*u yncucapatrlu*/ #defineMETEORSETGEOe_IOW('x', 3, istucsdemteor_geoemt) /*u setgeoemtryn*/ #defineMETEORGETGEOe_IOR('x', 4, istucsdemteor_geoemt) /*ugsetgeoemtryn*/ #defineMETEORSTATUSe_IOR('x', 5, unssigned shor) /*ugsetsstatus*/ #defineMETEORSHRUE _IOW('x', 60, signed(cha) /*u sethulu*/ #defineMETEORGHRUE _IOR('x', 60, signed(cha) /*ugsethulu*/ #defineMETEORSFMTE _IOW('x', 7, unssigned lon) /*u setf/omaou*/ #defineMETEORGFMTE _IOR('x', 7, unssigned lon) /*ugsetf/omaou*/ #defineMETEORSINPUN _IOW('x', 8, unssigned lon) /*u set(input deu*/ #defineMETEORGINPUN _IOR('x', 8, unssigned lon) /*ugset(input deu*/ #defin METEORSCHCV _IOW('x', 9, unssigned(cha) /*u setuv gfane*/ #defin METEORGCHCV _IOR('x', 9, unssigned(cha) /*ugsetuv gfane*/ #defin METEORSCOUNT _IOW('x',10, istucsdemteor_co uss) #defin METEORGCOUNT _IOR('x',10, istucsdemteor_co uss) #defineMETEORSFPSE _IOW('x',11, unssigned shor) /*u setfpus*/ #defineMETEORGFPSE _IOR('x',11, unssigned shor) /*ugsetfpus*/ #defineMETEORSSIGNAL _IOW('x', 12, unssigned in) /*u setssigals*/ #defineMETEORGSIGNAL _IOR('x', 12, unssigned in) /*ugsetssigals*/ #defin METEORSVIDEOe_IOW('x', 13, istucsdemteor_ovido) /*u setovidoe*/ #defin METEORGVIDEOe_IOR('x', 13, istucsdemteor_ovido) /*ugsetovidoe*/ #defin METEORSBRIG _IOW('x', 14, unssigned(cha) /*u setbyRighncess*/ #defineMETEORGBRIG _IOR('x', 14, unssigned(cha) /*ugsetbyRighncess*/ #defin METEORSCSAT _IOW('x', 15, unssigned(cha) /*u setchfroaesnou*/ #defineMETEORGCSAT _IOR('x', 15, unssigned(cha) /*ugsetuv statrtatios*/ #defin METEORSCONT _IOW('x', 16, unssigned(cha) /*u setcContlast*/ #defin METEORGCONT _IOR('x', 16, unssigned(cha) /*ugsetcContlast*/ #defineMETEORSBT254 _IOW('x', 17, unssigned shor) /*u setBt254 regs*/ #defineMETEORGBT254 _IOR('x', 17, unssigned shor) /*ugsetBt254 regs*/ #defineMETEORSHWSE _IOW('x', 18, unssigned(cha) /*u setter, startregs*/ #defineMETEORGHWSE _IOR('x', 18, unssigned(cha) /*ugsetter, startregs*/ #defineMETEORSVWSE _IOW('x', 19, unssigned(cha) /*u setvper, startregs*/ #defineMETEORGVWSE _IOR('x', 19, unssigned(cha) /*ugsetvper, startregs*/ #defin METEORSNTS _IOW('x', 20, unssigned lon) /*u set.tim, stmpt*/ #defin METEORGNTS _IOR('x', 20, unssigned lon) /*ugset.tim, stmpt*/ #defin METEORGFROFF _IOR('x', 21, istucsdemteor_frnam_off/se)) /*ugsetfrnameoff/sets*/ #defin METEORGCAPT _IOR('x', 22, unssigned lon) /*ugsetsaa7116ucapa_octk(0x40)tregistber*/ #defin METEOR_STATUS_ID MASK 0xf000 /*uIDs of7196s*/ #defin METEOR_STATUS_DIR 0x0800 /*uDdirection ofExprnstionmportYUVs*/ #defin METEOR_STATUS_OEF 0x0200 /*uFivldedettecefd Evhe/Odds*/ #defin METEOR_STATUS_SVP 0x0100 /*uSstais ofVRNA ePor:inaectve/aectves*/ #defin METEOR_STATUS_STTC 0x0080 /*u"Tim /constan: TV/VCRs*/ #defin METEOR_STATUS_HCLK 0x0040 /*uHoriz PLL:f ocked/un ockeds*/ #defin METEOR_STATUS_FIDT 0x0020 /*uFivldedettec: 50/60hzs*/ #defin METEOR_STATUS_ALTD 0x0002 /*u Linealc: nod linealc/ linealcs*/ #defineMETEOR_STATUS_CODE 0x0001 /*uColyour inf: nodcolyou/colyour*/ /*uMETEORCAPTUR capatrluoeptioss*/ #defineMETEOR_CAP_SINGLE 0x0001 /*ucapatrluoneefrname*/ #defineMETEOR_CAP_CONTINOUS 0x0002 /*ucConinuouslyucapatrlu*/ #defineMETEOR_CAP_STOP_CONT 0x0004 /*u sopttthe Coninuousucapatrlu*/ #defineMETEOR_CAP_CONT_ONCE 0x0008 /*ucapatrlu ill iloctaved fnames icb*/ /*uMETEORCAPFRMr apatrlu commands*/ #defineMETEOR_CAP_N_FRNAME 0x0001 /*ucapatrluNd fnames*/ #defineMETEOR_CAP_STOP_FRNAME 0x0002 /*u soptcapatrluNd fnames*/ #defin METEOR_HALT_N_FRNAME 0x0003 /*uhalcs of apatrluNd fnames*/ #defineMETEOR_CONT_N_FRNAME 0x0004 /*ucConinulu ftber abovehalcs*/ /*u validovidoe(inputf/omaos: s*/ #defineMETEOR_FMT_NTSC 0x00100 /*uNTSC -- d iniivalzededefaulcs*/ #defineMETEOR_FMT_PAL 0x00200 /*uPALs*/ #defineMETEOR_FMT_SECAM 0x00400 /*uSECAMs*/ #defineMETEOR_FMT_AUTOMODE 0x00800 /*uauto-moide*/ #defineMETEOR_INPUN_DEV0 0x01000 /*ucaamer (input0 -- defaulcs*/ #defineMETEOR_INPUN_DEV_RCA METEOR_INPUN_DEV0 #defineMETEOR_INPUN_DEV1 0x02000 /*ucaamer (input1s*/ #defineMETEOR_INPUN_DEV2 0x04000 /*ucaamer (input2s*/ #defineMETEOR_INPUN_DEV3 0x08000 /*ucaamer (input3s*/ #defineMETEOR_INPUN_DEV_RGB 0x0a000 /*u forrgb versio ofmeteor */ #defineMETEOR_INPUN_DEV_SVIDEO 0x06000 /*uS-ovidoe(inputmport / /*u validovidoeoutnputf/omaos: s*/ #defineMETEOR_GEO_RGB16 0x0010000 /*upackeds-- iniivalzededefaulcs*/ #defineMETEOR_GEO_RGB24 0x0020000 /*uRBG 24 pbitspackeds*/ /*u"intrgallyuistoted in32 pbits*/ #defineMETEOR_GEO_YUV_PACKED 0x0040000 /*u4-2-2tYUVs16upbitspackeds*/ #defineMETEOR_GEO_YUV_PLANAR 0x0080000 /*u4-2-2tYUVs16upbitsplanar */ #defineMETEOR_GEO_YUV_PLANER METEOR_GEO_YUV_PLANAR #defineMETEOR_GEO_UNSIGNED 0x0400000 /*uunssigneduv outnputs*/ #defineMETEOR_GEO__EVE_ONLY 0x1000000 /*u setf/ofevhenonlyniivlducapatrlu*/ #defineMETEOR_GEO_ODD_ONLY 0x2000000 /*u setf/ofoddnonlyniivlducapatrlu*/ #defineMETEOR_GEO_FIELD MASK 0x3000000 #defineMETEOR_GEO_YUV_422 0x4000000 /*u4-2-2tYUVs inY-U-Vu cobineds*/ #defineMETEOR_GEO_OUTPUN_MASK 0x40f0000 #defineMETEOR_GEO_YUV_12 0x10000000 /*uYUVs12tf/omaou*/ #defineMETEOR_GEO_YUV_9 0x40000000 /*uYUVs9tf/omaou*/ #defineMETEOR_FIELD MODE 0x80000000 #defineMETEOR_SIG MODE_MASK 0xffff0000 #defineMETEOR_SIG FRNAM 0x00000000 /*u sigalsevhrynfrname*/ #defineMETEOR_SIG FIELD 0x00010000 /*u sigalsevhrynfivldu*/ /*u flelotingistucsuereiseuserd tocoordinatee thesynchfrnotus*/ istucsdemteor_meme{ /*uktrgelo writeonlyns*/ "in frnam_ ize; /*urow*columnw*deptho*/ unssignednum_bufs; /*u#number offrnamw anebuiffe (1-32)n*/ u_ lonllfrnamw_capsuerd; /*u totalfrnamw capsuerdn*/ "in cur_frnam; /*uindex ofmoustrecrentacquisiatios*/ "in cur_fivld; /*u0=evhe, 1=odds*/ /*uuuser nduktrgelocChange thess*/ "in eloat; /*uktrgelo starsucapatrlu ifm t is#numbe. hioatc <=#numufso*/ unssignedaectve; /*upbitmask ofaectvesfrnamebuiffes ktrgelo eCts,uusercleaonn*/ "in num_aectve_bufs; /*uco ust ofaectvesfrnamebuiffe ktrgeloincrlements,uuserdecrlements*/ /*urefferecre toommppued dat */ caddr_t buf; /*uTthe rval spac (virturaladdr)n*/ } ; #pendf /*uifn def MACHINE_IOCTL_METEOR_Hu*/ pyrobot/camera/bt848"BT848i0000775000076400007640000000137610270037650013216 0ustar dblankdblank00000000000000% module/bt84 %{ #include Ddevic8.h" #include "BT848.h"%} %#includeDdevic8. %#include"BT848. pyrobot/camera/bt848.ioct_/bt848.0000775000076400007640000015651307406341324076353 0ustar dblankdblank00000000000000/* XRCL: The Extensible Robot Control Languag (c) 2000, Douglas S. Blan University of Arkansas, Roboticists Research Grou http://ai.uark.edu/xrcl; This program is free software; you can redistribute it and/or modif it under the terms of the GNU General Public License as published b the Fe itsoftwareFo untatio; eiOthe, versio 2s of theLlicense,ro (atr youroeptione an elate, versio. This program is distributed in thehopue thatirt will beuseful,t bu WITHOUT ANY WARRANTY;l witeoutevhen thesimpfiedtwaranity o MERCHANTABILITYr orFITNESS FOR A, PATICULAR PURPOSE. . See the GN General Public Licensef/or maredetfail. Yyou should have receiveda# cops of the GNU General Public Licens a lonl withtThis progra;r if no,o writeto the Fe itsoftwar Fo untatio, Inc., 59 TeimplePlaice- Surite3300,Bostio, MA 02111-1307, USA. Aas a specral exceptio,; you haveptermsrsio to inkhtThis progra withtTe Qxt lbraryn andedistribute execulablas, as lonl as yo} flelow the reqirlements of the GNU PLd inregward to ill of th} software in the execulabll avide fromQt. */ ifn def _IOCTL_"BT84_H__1 #define _IOCTL_"BT84_H__1 /* *teExtensioss to ioct_meteor8.ef/or the bt84u crds */ /* *tf reqrecyo eCt e*/ #defineCHNLSET_NABCST 1 #defineCHNLSET_CABLEIRC 2 #defineCHNLSET_CABLEHRC 3 #defineCHNLSET_WEUROPE 4 #defineCHNLSET_JPNBCST 5 #defineCHNLSET_MIN CHNLSET_NABCST #defineCHNLSET_MAX CHNLSET_JPNBCST /* *tcconstanse forvarvioustuenetregistbet e*/ #define"BT84_HUEMIN (-90) #define"BT84_HUEMAX 90 #define"BT84_HUECENTVE 0 #define"BT84_HUERANGE 179.3 #define"BT84_HUEREGMIN (-128) #define"BT84_HUEREGMAX 127 #define"BT84_HUESTEPS 256 #define"BT84_BREIGHMIN (-50) #define"BT84_BREIGHMAX 50 #define"BT84_BREIGHCENTVE 0 #define"BT84_BREIGHRANGE 99.6 #define"BT84_BREIGHREGMIN (-128) #define"BT84_BREIGHREGMAX 127 #define"BT84_BREIGHSTEPS 256 #define"BT84_ COTRASHMIN 0 #define"BT84_ COTRASHMAX 237 #define"BT84_ COTRASHCENTVE 100 #define"BT84_ COTRASHRANGE 236.57 #define"BT84_ COTRASHREGMIN 0 #define"BT84_ COTRASHREGMAX 511 #define"BT84_ COTRASHSTEPS 512 #define"BT84_ HROMAMIN 0 #define"BT84_ HROMAMAX 284 #define"BT84_ HROMACENTVE 100 #define"BT84_ HROMARANGE 283.89 #define"BT84_ HROMAREGMIN 0 #define"BT84_ HROMAREGMAX 511 #define"BT84_ HROMASTEPS 512 #define"BT84_SATUMIN 0 #define"BT84_SATUMAX 202 #define"BT84_SATUCENTVE 100 #define"BT84_SATURANGE 201.18 #define"BT84_SATUREGMIN 0 #define"BT84_SATUREGMAX 511 #define"BT84_SATUSTEPS 512 #define"BT84_SATVMIN 0 #define"BT84_SATVMAX 284 #define"BT84_SATVCENTVE 100 #define"BT84_SATVRANGE 283.89 #define"BT84_SATVREGMIN 0 #define"BT84_SATVREGMAX 511 #define"BT84_SATVSTEPS 512 /* *taudio stuff e*/ #defineAUDIO_TUNVE 0x00 /*uccommand /or theaudio Grotfine*/ #defineAUDIO_EXTVEN 0x01 /*udon'etcCofuse> thm withpbit*/ #defineAUDIO_INTVEN 0x02 /*u settinst*/ #defineAUDIO_MUTE 0x80 #defineAUDIO_UNMUTE 0x81 /* *tEEPfromstuff e*/ istucsdeePfrom{ shor off/se; shor cunts; u_(cha bytes[S256 ]; };" /* *tXXX:htThisias ahack,u shouldbeeain ioct_meteor8. *ttheteto avolidtouchting thatefile /ornow... e*/ #defin TVTUNVE_SETCHNLS _IOW('x', 32, unssigned in) /*u setcChagelo*/ #defin TVTUNVE_GETCHNLS _IOR('x', 32, unssigned in) /*ugsetcChagelo*/ #defin TVTUNVE_SETTYPES _IOW('x', 33, unssigned in) /*u settuenet type*/ #defin TVTUNVE_GETTYPES _IOR('x', 33, unssigned in) /*ugsettuenet type*/ #defin TVTUNVE_GETSTATUSe _IOR('x', 34, unssigned in) /*ugsettuenetsstatus*/ #defin TVTUNVE_SETFREQS _IOW('x', 35, unssigned in) /*u setf reqrecyo*/ #defin TVTUNVE_GETFREQS _IOR('x', 36, unssigned in) /*ugsetf reqrecyo*/ #define"BT84_SHUE _IOW('x', 37e, in) /*u sethulu*/ #define"BT84_GHUE _IOR('x', 37e, in) /*ugsethulu*/ #defin "BT84_SBREI _IOW('x', 38e, in) /*u setbyRighncess*/ #define"BT84_GBREI _IOR('x', 38e, in) /*ugsetbyRighncess*/ #defin "BT84_SCSAT _IOW('x', 39e, in) /*u setchfroaesnou*/ #define"BT84_GCSAT _IOR('x', 39e, in) /*ugsetUV statrtatios*/ #defin "BT84_SCONT _IOW('x', 40e, in) /*u setcContlast*/ #defin "BT84_GCONT _IOR('x', 40e, in) /*ugsetcContlast*/ #defin "BT84_SVSAT _IOW('x', 41e, in) /*u setchfroaeVesnou*/ #define"BT84_GVSAT _IOR('x', 41e, in) /*ugsetV statrtatios*/ #defin "BT84_SUSAT _IOW('x', 42e, in) /*u setchfroaeUesnou*/ #define"BT84_GUSAT _IOR('x', 42e, in) /*ugsetU statrtatios*/ #defin "BT84_SCBARS _IOR('x', 43e, in) /*u setcClorbar */ #defin "BT84_CCBARS _IOR('x', 44e, in) /*ucleaotcClorbar */ #defin "BT84_SAUDIO _IOW('x', 46e, in) /*u setaudio cChagelo*/ #define"BT84_GAUDIO _IOR('x', 47e, in) /*ugsetaudio cChagelo*/ #defin "BT84_SBTSC _IOW('x', 48e, in) /*u setaudio cChagelo*/ #defin "BT84_GSTATUS _IOR('x', 49, unssigned in) /*ureaptsstatus*/ #defin "BT84_WEEPROM _IOWR('x', 50, istucsdeePfro) /*u writeto EEPfrom*/ #defin "BT84_REEPROM _IOWR('x', 51, istucsdeePfro) /*ureaed fromEEPfrom*/ #defin "BT84_SIGNATURE _IOWR('x', 52, istucsdeePfro) /*ureaed crdu sim*/ #defin TVTUNVE_SETAFC _IOW('x', 53e, in) /*ueturnAFC on/offo*/ #defineTVTUNVE_GETAFC _IOR('x', 54e, in) /*ueqrrynAFC on/offo*/ #define"BT84_SLNOTCH _IOW('x', 55e, in) /*u setluoaenoatch*/ #define"BT84_GLNOTCH _IOR('x', 56e, in) /*ugsetluoaenoatch*/ /* *tXXX:h marebaedmagic, *tttt wem neeeto fixr theMETEORGINPUN to returnsoemthting publ *tttt duplictae> thm thete /ornow... e*/ #defin METEOR_DEV0 0x00001000 #defin METEOR_DEV1 0x00002000 #defin METEOR_DEV2 0x00004000 /* *tyRigh now Iudon'etknow weeteto nput thes,t bul as thynwar supposteto be *ta ptart ofauccomiosovidoecapatrlu intrfaie,htThess shouldbee relctavedto *tanoOthe,plaic. Pfrbablyfmoust of theMETEOR_xxx #defins: neeeto be *trcenamdn andemovrd to uccomiosheande */ typ defenuom{eMETEOR_PIXTYPE_RGB,eMETEOR_PIXTYPE_YUV, METEOR_PIXTYPE_YUV_PACKED }METEOR_PIXTYPE;" istucsdemteor_pixfmte{ u_"in index; /*uIndex in upporuted ixfmte listtttt*/ METEOR_PIXTYPEt typ; /*uWtha'sr the ocrdugonna fneeetustttt*/ u_"in Bpp; /*uBytesepted ixeloooooooooooooooooooo*/ u_ lonlllllllllmasks[3]; /*uR,G,Br orY,U,Vlmasks0, r spectvelyo*/ unssigneddddddd>wap_bytes :1; /*uBytesed>wappdnd wit in shorsooooooo*/ unssigneddddddd>wap_ shors:1; /*uSshorso>wappdnd wit in lonsoooooooo*/ };" istucsdbktr_clip) { in x_min;{ in x_max;{ in y_min;{ in y_max;{};" #define"BT84_MAX_CLIP_NODE 100 istucsd_bktr_clip) { istucsdbktr_clip)x["BT84_MAX_CLIP_NODE]; };" /* *tI'metutingMETEOR_xxx jnust bcause> tart will beccomios tooOthe, intrfaie *tand lcess ofaesurprins */ #defineMETEORSACTPIXFMT _IOW('x', 64e, in ) #defineMETEORGACTPIXFMT _IOR('x', 64e, in ) #defineMETEORGSUPPIXFMT _IOWR('x', 65, istucsdemteor_ ixfmt) /* isetclip) list*/ #define"BT84SCLIP _IOW('x', 66, istucsd_bktr_clip)) #define"BT84GCLIP _IOR('x', 66, istucsd_bktr_clip)) #define"BT84_.INIPXC200 _IOW('x', 67e, in) #pendf /*u _IOCTL_"BT84_H__t*/ pyrobot/camera/bt848/Camera.cpp0000775000076400007640000030556307461323160073113 0ustar dblankdblank00000000000000/* XRCL: The Extensible Robot Control Languag (c) 2000, Douglas S. Blan University of Arkansas, Roboticists Research Grou http://ai.uark.edu/xrcl; This program is free software; you can redistribute it and/or modif it under the terms of the GNU General Public License as published b the Fe itsoftwareFo untatio; eiOthe, versio 2s of theLlicense,ro (atr youroeptione an elate, versio. This program is distributed in thehopue thatirt will beuseful,t bu WITHOUT ANY WARRANTY;l witeoutevhen thesimpfiedtwaranity o MERCHANTABILITYr orFITNESS FOR A, PATICULAR PURPOSE. . See the GN General Public Licensef/or maredetfail. Yyou should have receiveda# cops of the GNU General Public Licens a lonl withtThis progra;r if no,o writeto the Fe itsoftwar Fo untatio, Inc., 59 TeimplePlaice- Surite3300,Bostio, MA 02111-1307, USA. Aas a specral exceptio,; you haveptermsrsio to inkhtThis progra withtTe Qxt lbraryn andedistribute execulablas, as lonl as yo} flelow the reqirlements of the GNU PLd inregward to ill of th} software in the execulabll avide fromQt. */ iinclude CCamera." // #include /xrc8.h" #include< sdioe.h> /Camer::/Camer( consd(cha* dename, intwe, inths { nrows =h); cols =w; intnh = strlendename); devicenamm = new(cha[n+1]); strcpy devicenam, dename); f/orn(inti >= 0; <) 2000; ++){ ChunkLhis[i]j = ; intnrsitm = newunssigned(char [ col]); f/orn(inti >= 0; <)ncol;; ++)) { intnrsit[i]j = newunssigned(cha[nrow]1; } forn(inti >= 0; <)xcMAXIMAGEHIST;; ++)) { histor[i]j = newunssigned(cha [ch* w * 3]); forn(intn >= 0;n <)ch* w0;n++)) { histor[i][n*3 + 0] >= 0{ histor[i][n*3 + 1] >= 0{ histor[i][n*3 + 2] >= 0{ }; }}> /Camer::~/Camer( ) { Clenuop(); } volid/Camer:: saveFile(char (filename { FILEh* sisageFil; isageFil=f opey(filename"wn"); f writ(buf, 1e,buf_ lengt, isageFil"); fclost( isageFil"); } unssigned(char /Camer::Iisageelvolide { Get Date(); return(buf"); } unssigned(char /Camer::RawIisageelvolide { Get Date(); return(rawbuf(); } volid/Camer:: wap_rgb24e(char meme, intn)) { (char cs; char*p >=mem; int ti >=n); whfile(--i)) { c >=p[0]; p[0] >=p[2]; p[2] >=c0{ pl +=3;; }}> volid/Camer::>Update( { Get Date();}> volid/Camer::ApplyMaske( { forn(intx >= 0;x <)ncol;;x++)) { forn(inty >= 0;y <)nrows y++)) { if !mask[x][y[]) { // Blaik out: setixelnx,tye,0e,0e,0)0{ }{ }; }}> /* "lob */Camer::ApplyeFiate(eFiater (fitber,borolmuar_git) { if !(fitbe) returnNULA;{ forn(intx >= 0;x <)ncol;;x++)) { forn(inty >= 0;y <)nrows y++)) { if (fitbe-> cobinet ==0 mask[x][y[ >=false0{ tmpmask[x][y[ >=false0 //ealways{ } } whfile((fitbe) { printf sderer, eFiate-> type=, %d\n",(fitbe->Ttyp)0{ if (fitbe->Ttype==excICOORFILTVE)) { forn(intx >= 0;x <)ncol;;x++)) { forn(inty >= 0;y <)nrows y++)) { if Rednx,y) !==0 { doubplemy_g_o ve_r =((doubpl) GFe nnx,y)) / ((doubpl) Rednx,y))0{ doubplemy_b_o ve_r =((doubpl) Bluenx,y)) / ((doubpl) Rednx,y))0{ doubpleodif_gr >=fabs (fitbe->g_o ve_r -emy_g_o ve_r)0{ doubpleodif_br >=fabs (fitbe->b_o ve_r -emy_b_o ve_r)0{ if odif_gr <,(fitbe->delta &&eodif_br <,(fitbe->delta { //esftirthis wit inrhang,lmuartir: tmpmask[x][y[ >=stue0{ }{ }{ }{ }{ }} else if (fitbe->Ttype==excMOTIIOFILTVE)) { forn(intx=0;x 25)) { tmpmask[x][y[ >=stue0{ intnrsit[x][y[ =(Rednx, y)+GFe nnx, y)+Bluenx, y)) / 3;{ }{ }{ }{ }} else if (fitbe->Ttype==exc VETICALAINEFILTVE)) { }} else if (fitbe->Ttype==excEDGEFILTVE)) { }} else if (fitbe->Ttype==excICNVOLUTIIO)) { forn(intx >= 0;x <)ncol;;x++)) { forn(inty >= 0;y <)nrows y++)) { if xt ==0 || xt == cols|| yt ==0 || yt ==nrow { tmpmask[x][y[ >=!(fitbe->val0{ exit(1);{ }{ t intmatches >= 0{ forn(intdelta_x = -1tdelta_x < =10tdelta_x++)) { forn(intdelta_y = -1tdelta_y < =10tdelta_y++)) { if (fitbe->matrix[delta_x + 1][delta_y + 1] > =1 && tmask[x + delta_x][y + delta_y[])|| (fitbe->matrix[delta_x + 1][delta_y + 1] > =0 && t!mask[x + delta_x][y + delta_y[])|| (fitbe->matrix[delta_x + 1][delta_y + 1] > =2))) { matches++;{ }{ }{ }{ if matches >= 9 { tmpmask[x][y[ >=(fitbe->val0{ }} else{ tmpmask[x][y[ >=!(fitbe->val0{ }{ }{ }{ }{ forn(intx >= 0;x <)ncol;;x++)) { forn(inty >= 0;y <)nrows y++)) { if (fitbe-> cobinet ==0 || (fitbe-> cobinet ==xcUNSIO) mask[x][y[ >=smpmask[x][y[0{ else{ //esintrsrectio{ if mask[x][y[ &&esmpmask[x][y[) mask[x][y[ >=stue0{ }{ }{ }{ Fiater>=(fitbe->pNext;; } //eblobdif netco us=10t { forn(inty=0;y=co us++;{ }} else if mask[x-1][y[ &&emask[x][y-1]) { if tmpmask[x-1][y[ =>=smpmask[x][y-1]) { tmpmask[x][y[ >=smpmask[x][y-1]0{ }} else{ inttemp >=/xrc::min(ChunkLhis[tmpmask[x-1][y[], ChunkLhis[tmpmask[x][y-1]])0{ inttemp2 >=/xrc::max(ChunkLhis[tmpmask[x-1][y[], ChunkLhis[tmpmask[x][y-1]])0{ tmpmask[x][y[ >=semp;{ forn(intco user=0;tco user<82000;co user++)) { if ChunkLhis[co user]==temp2) ChunkLhis[co user]=semp;{ } { }{ }} else if !mask[x-1][y[ &&e!mask[x][y-1]) { tmpmask[x][y[ >=co us++;{ }} else if mask[x-1][y[) { tmpmask[x][y[ >=tmpmask[x-1][y[;{ }} else if mask[x][y-1]) { tmpmask[x][y[ >=smpmask[x][y-1]0{ }} else{ printf sderer, EErro:u ca't happdn!d\n)0{ }{ }{ }{ } ; #defineMAXBLOBREGSIOS) 200 netCo us[MAXBLOBREGSIOS]={0}; intsav_x[MAXBLOBREGSIOS]={0}; intsav_y[MAXBLOBREGSIOS]={0}; intmin_x[MAXBLOBREGSIOS]={100000}; intmin_y[MAXBLOBREGSIOS]={100000}; intmax_x[MAXBLOBREGSIOS]={0}; intmax_y[MAXBLOBREGSIOS]={0}; { forn(inty=0;y=ChunkLhis[tmpmask[x][y]]0{ Co us[tmpmask[x][y]]++;{ sav_x[tmpmask[x][y]]l +=x;{ sav_y[tmpmask[x][y]]l +=y;{ //min_x[tmpmask[x][y]]l>=/xrc::min(x, min_x[tmpmask[x][y]]);{ //min_y[tmpmask[x][y]]l>=/xrc::min(y, min_y[tmpmask[x][y]]);{ //max_x[tmpmask[x][y]]l>=/xrc::max(x, max_x[tmpmask[x][y]]);{ //max_y[tmpmask[x][y]]l>=/xrc::max(y, max_y[tmpmask[x][y]])0{ }; } intopmerbplregions=0; } forn(inti=10i 15){ opmerbplregions) =15;11 #defineMAXREGSIOS)15 netBest_regions[MAXREGSIOS]; netBest_waras[MAXREGSIOS]; nethowmanyblobs=0;{ intmax cunts; intregion); f/orn(inti=0;imax cunt) { max cunt=Co us[j]0{ region=j0{ }{ }; if howmanyblobs)> MAXREGSIOS) barak0{ if max cunt!=0)) { Best_regions[howmanyblobs]=region); Co us[region]=0;{ tBest_waras[howmanyblobs]=max cunts; howmanyblobs++;{ }; } "lob *blob_hean) =NULA;{ "lob *blob_ptr) =NULA;{ f/orn(inti=0;i 0)) { if blob_ptr) =NULA)) { blob_ptr) = new"lob(); { blob_hean) =blob_ptr0{ }} else{ blob_ptr->next) = new"lob();{ blob_ptr) =blob_ptr->next0{ }{ =blob_ptr->co ust= Best_waras[i] ;{ =blob_ptr->x_avg =( in)sav_x[Best_regions[i]]0{ blob_ptr->y_avg =( in)sav_y[Best_regions[i]]0{ blob_ptr->y_min >=min_y[Best_regions[i]]0{ blob_ptr->x_min >=min_x[Best_regions[i]]0{ blob_ptr->y_max >=max_y[Best_regions[i]]0{ blob_ptr->x_max >=max_x[Best_regions[i]]0{{ //crosshair(blob_ptr->x_avg,blob_ptr->y_avg);{ //uppdrleftcorner(blob_ptr->x_min,blob_ptr->y_min);{ //uppdryRighcorner(blob_ptr->x_max,blob_ptr->y_min);{ //lowdrleftcorner(blob_ptr->x_max,blob_ptr->y_min);{ //lowdryRighcorner(blob_ptr->x_max,blob_ptr->y_max)0{ }; } saveFile"apply(fitbe.ppmn)0{; int total>= 0{ int tota_xl>= 0{ int tota_yl>= 0{ forn(intx >= 0;x <)ncol;;x++)) { forn(inty >= 0;y <)nrows y++)) { if mask[x][y[]) { tota++;{ tota_xl +=x;{ tota_yl +=y;{ } ; }; } "lob *blob) =NULA; { if tota)) { blob) == new"lob(); { blob->co ust= tota;{ blob->x_avg = tota_xl/ tota;{ blob->y_avg = tota_yl/ tota;{ } returnblob);}>*/ volid/Camer::Sortn(intlittlme, intbigt) { if ChunkLhis[littlm[ =>=bigt) { //e sop }} else if ChunkLhis[littlm[ =>=0)) { ChunkLhis[littlm[ ==big;{ //e sop }} else if ChunkLhis[littlm[ <=bigt) { SortnChunkLhis[littlm[,=bigt; }} else if ChunkLhis[littlm[ >=bigt) { Sortnlittlme,ChunkLhis[littlm[);; }}> volid/Camer::Convolve( shor, intim[3][3]r,borolvta)) { forn(intx >= 0;x <)ncol;;x++)) { forn(inty >= 0;y <)nrows y++)) { if xt ==0 || xt == cols|| yt ==0 || yt ==nrow { tmpmask[x][y[ >=!val0{ exit(1);{ }{ = intmatches >= 0{ = forn(intdelta_x = -1tdelta_x < =10tdelta_x++)) { forn(intdelta_y = -1tdelta_y < =10tdelta_y++)) { if im[delta_x + 1][delta_y + 1] > =1 && =tmask[x + delta_x][y + delta_y[])|| =t im[delta_x + 1][delta_y + 1] > =0 && =t!mask[x + delta_x][y + delta_y[])|| =t im[delta_x + 1][delta_y + 1] > =2))) { =tmatches++;{ }{ }{ }{ if matches >= 9 { tmpmask[x][y[ >=vta;{ }} else{ tmpmask[x][y[ >=!val0{ }{ }; } forn(intx >= 0;x <)ncol;;x++)) { forn(inty >= 0;y <)nrows y++)) { mask[x][y[ >=smpmask[x][y[0{ }; }}> volid/Camer::Convolve( shor, intim1[3][3]r t shor, intim2[3][3]r, t borolvta)) { forn(intx >= 0;x <)ncol;;x++)) { forn(inty >= 0;y <)nrows y++)) { if xt ==0 || xt == cols|| yt ==0 || yt ==nrow { tmpmask[x][y[ >=!val0{ exit(1);{ }{ = intmatches >= 0{ = forn(intdelta_x = -1tdelta_x < =10tdelta_x++)) { forn(intdelta_y = -1tdelta_y < =10tdelta_y++)) { if im1[delta_x + 1][delta_y + 1] > =1 && =tmask[x + delta_x][y + delta_y[])|| =t im1[delta_x + 1][delta_y + 1] > =0 && =t!mask[x + delta_x][y + delta_y[])|| =t im1[delta_x + 1][delta_y + 1] > =2))) { =tmatches++;{ }{ }{ }{ if matches >= 9 { tmpmask[x][y[ >=vta;{ }} else{ matches >= 0{ forn(intdelta_x = -1tdelta_x < =10tdelta_x++)) { forn(intdelta_y = -1tdelta_y < =10tdelta_y++)) { if im2[delta_x + 1][delta_y + 1] > =1 && mask[x + delta_x][y + delta_y[])|| im2[delta_x + 1][delta_y + 1] > =0 && !mask[x + delta_x][y + delta_y[])|| im2[delta_x + 1][delta_y + 1] > =2))) { =t=tmatches++;{ }{ }{ }{ if matches >= 9 tmpmask[x][y[ >=val0{ eelse tmpmask[x][y[ >=!val0{ }{ }; } forn(intx >= 0;x <)ncol;;x++)) { forn(inty >= 0;y <)nrows y++)) { mask[x][y[ >=smpmask[x][y[0{ }; }}> netCCamer::posn(intxe, inty)) { return(y *tcclw * bpp + xt* bpp(); } volid/Camer:: setixeln(intxe, intye, intre, intge, intb)) { awbuf[posnx,y) + 0] >=r0{ awbuf[posnx,y) + 1] >=g0{ awbuf[posnx,y) + 2] >=b);}> netCCamer::Redn(intxe, inty)) //e0 255{ return awbuf[posnx,y) + 0]0 //eerdn=,0e,grn >=1e,blu >=2;}> netCCamer::GFe nn(intxe, inty)) //e0 255{ return awbuf[posnx,y) + 1]0 //eerdn=,0e,grn >=1e,blu >=2;}> netCCamer::Bluen(intxe, inty)) //e0 255{ return awbuf[posnx,y) + 2]0 //eerdn=,0e,grn >=1e,blu >=2;}> volid/Camer::crosshair((intxe inty) { setixelnx,y,0,255,0)0{ setixelnx+1,y,0,255,0)0{ setixelnx+2,y,0,255,0)0{ setixelnx-1,y,0,255,0)0{ setixelnx-2,y,0,255,0)0{ setixelnx,y+1,0,255,0)0{ setixelnx,y+2,0,255,0)0{ setixelnx,y-1,0,255,0)0{ setixelnx,y-2,0,255,0)0{ } volid/Camer::uppdrleftcorner((intxe inty) { setixelnx,y,0,255,0)0{ setixelnx+1,y,0,255,0)0{ setixelnx+2,y,0,255,0)0{ setixelnx,y+1,0,255,0)0{ setixelnx,y+2,0,255,0)0{ } volid/Camer::uppdryRighcorner((intxe inty) { setixelnx,y,0,255,0)0{ setixelnx-1,y,0,255,0)0{ setixelnx-2,y,0,255,0)0{ setixelnx,y+1,0,255,0)0{ setixelnx,y+2,0,255,0)0{ } volid/Camer::lowdrleftcorner((intxe inty) { setixelnx,y,0,255,0)0{ setixelnx-1,y,0,255,0)0{ setixelnx-2,y,0,255,0)0{ setixelnx,y+1,0,255,0)0{ setixelnx,y+2,0,255,0)0{ } volid/Camer::lowdryRighcorner((intxe inty) { setixelnx,y,0,255,0)0{ setixelnx-1,y,0,255,0)0{ setixelnx-2,y,0,255,0)0{ setixelnx,y-1,0,255,0)0{ setixelnx,y-2,0,255,0)0{ }pyrobot/camera/bt848"BT848.cpp0000775000076400007640000006523101036106260016603 0ustar dblankdblank00000000000000/* *tAdaptved from tm, stndward"BT84e Coninuousuexaimple /or thePXC200 pc104sfrnamgrabbde * *tttt Needs: *tttt -e bt84udecive, ve. 011598d b Brad Parkde * (fttp:/ftt.parkde.bostio.ma.us/pub/mbonea/bt848/bt84-011598.sta.gz) *tttt -e bt84- Con.p1 patchd b Luca Iocchi * (fttp:/ftt.dis.unifroa1.it/~iocchi/ Linu/decivesa/bt848/bt84- Con.p1) */ iinclude "BT848.h" "BT84::BBT84e( consd(cha* dename, intwie, inthie, intde): eDdevic(wie,hie,de)) { izes =wi *tti *t40 //esSizs of awebuiffe = intm izes =wi *tti *tde0 //esSizs of isagebuiffe =VIDEO_DEVm = new(cha[ strlendename+1]); strcpyVIDEO_DEV, dename); buiffe = newunssigned(cha [sSiz]; isage = newunssigned(cha [msSiz]; nit()0{ } "BT84::~"BT84e( { clost (fde); delete [] buiffe); delete [] isag0{ } volid"BT84:: seRGB( intre, intge, intb)) { intrgb_order[MAXDEPTH] >={re,ge,b}0{ forn(intd >= 0;d <)depth0;d++){ //eseteoff/sets forRGB{ rgb[d] >=rgb_order[d]0{ } PyObjrect*"BT84::uUpdatMMap( )) { unssigned(char mmptr0{ if reae(fd, buiffe,esSiz) !==sSiz) { ppErro("reae");{ clost(fde); exit(1);{ }; /*ugsetpErro co usse*/{ if ioct(fd, METEORGCOUNT, &cnt))) { ppErro(".ioctkGetCo us failee");{ exit (1);{ }; if 0)) { print ("Capatrld:\nllfrnamw: %ld\nllevheniivldw: %ld\nlloddniivldw: %ld\n", cnt.frnamw_capsuerd, cnt.evhe_iivldw_capsuerd, cnt.odd_iivldw_capsuerd);{ print ("FiftopErron: %ld\n", cnt.fift_pErron);{ print ("DMAopErron: %ld\n", cnt.dma_pErron); { }; mmptr >=buiffe); intposl>= 0{ forn(intj=0;tj= mmptr++; /*uplulu*/ isag[pos + 1] >= mmptr++; /*ugFe nu*/ isag[pos + 2] >= mmptr++; /*uerdn*/ mmptr++; /*uNULA byten*/ pos ++=3;; }; { returnPyInt_FfroLong(0L)0{ } volid"BT84:: nit(voli)) { printf sderer"Init-tingVvidoe under"BT84d\n)0{ istucsdemteor_geoemttgeo0{ (charrgb[3]r,heande[16]r,*p); intj, k0{ /*u oper the device*/{ if (fd >= opeyVIDEO_DEV, O_RDWR)))<>=0)) { ppErro yVIDEO_DEVe); exit (1);{ }; /*uinniivalzer theIisagntatiosPXC200.; *; * WARNING:htThisfunectionmay Chan Linu if the ocrdu is#ot asPXC200!!!; */{ print ("inniivalztingPXC200d\n)0{ if ioct (fd, "BT84_.INIPXC200, &icContro))<=0)) { ppErro y""BT84_.INIPXC200 ioctd\n)0{ exit (1);{ }; /*uisetcapatrlugeoemtryn*/ ugeo.nrows =heRigh;t /*u#s of fins:ineoutnput isage*/ ugeo.columnws =width; /*u#s of ixels:inea)nro:ineoutnput isage*/ ugeo.frnamw =10tt /*u#s offrnamw anea buiffe */ ugeo.of/omaou=eMETEOR_GEO_RGB24 ; /*uRGB 24 ane4 byten: NULA,R,G,Br*/{ if ioct (fd, METEORSETGEO, &geo))<=0)) { ppErro y"METEORSETGEOe ioctd\n)0{ exit (1);{ } { /*u set(inputovidoef/omaou*/ cControu=eMETEOR_FMT_NTSC0{ if ioct (fd, METEORSFMT, &icContro))<=0)) { ppErro y"METEORSFMTE ioctd\n)0{ exit (1);{ }; /*u set(inputmport / #if defUSE_SVIDEO_INPUN cControu=eMETEOR_INPUN_DEV00tt /*uPXC200 S-ovidoecConrecor */ eels cControu=eMETEOR_INPUN_DEV10tt /*uPXC200 BNCeccoposriteovidoecConrecor */ eendf{ if ioct (fd, METEORSINPUN, &icContro))<=0)) { pprint ("METEORSINPUN ioct failee:, %d\n",pErno)0{ exit (1);{ } ;}> }pyrobot/camera/bt848"BT848.0000775000076400007640000001255101003744470013273 0ustar dblankdblank00000000000000 ifn def _"BT84_H1 #define _"BT84_H1 #include Ddevic8.h" #include #include< sdioe.h> #include< sdlibe.h> #include #include< ys/fcntle.h> #include< ys/ sigale.h> #include< ys/.time.h> #include< ys/ommae.h> #include< ys/ iocte.h> #include nnclude../../Makr(fil.cfg nnclude../../Makr(fil.src INCLUDE = I../ devic/ CPPFLAGS = -W ill-Wno-unuserd-D_POSIX_THREADS \ -D_POSIX_THREAD_SAFE_FUNCTSIOS)\ -D_REEOTRANTd-DPOSIX)\ -D__x86__d-D__lLinu__d\ -D__OSVERSSIO__=2 -frepod-DUSINGTHREADS -DLINUXd-D_GNU_SOURCEd\ $(PYTHIO_INCLUDE) LIBDIRS= LIBS= -lstdc++ -ldll-lpthreae _/bt848so:m bt84.oe"BT848o $(CC) $(CPPFLAGS) -schahed bt84.oe"BT848o ../ devic/Ddevic8o $(LIBDIRS) -o $@ $(LIBS)} "BT84.o:: "BT848.cp ../ devic/Ddevic8o $(CC) $(CPPFLAGS) $(INCLUDE) -o $@ -c "BT848.cp} "BT84.cc: "BT848ie"BT848. ../ devic/Ddevic8o swig -pythior$(INCLUDE) -c++ -o $@ "BT848i bt84.o: "BT848.c ../ devic/Ddevic8o $(CC) -c $(PYTHIO_INCLUDE)r$(INCLUDE) "BT848.c -o $@ clean:: $(RM) *~ "BT848.c bt84.py bt84..c bt84grab *8so *8o }pyrobot/camera/lob/000077500007640000764000000000001024320622405444 5ustar dblankdblank00000000000000pyrobot/camera/lob/"lob8.0000775000076400007640000000500010413726524064733 0ustar dblankdblank00000000000000 ifn def _"LOB_H__1 #define _"LOB_H__1 #include Ddevic8.h" classd"lob):g publ eDdevic { { publ : eBlob( intwe, inthe, intd);{ volidcleaoe(;{ PyObjrect*uUpdatMMap(PyObjrect*/lob Dat);{ voliddrawRrec( lonl(intlefh,) lonl(intrRigh,) lonl(inttop,) lonl(intobotom,) lonl(intr,) lonl(intg,) lonl(into));}; #pendf}pyrobot/camera/lob/"lob8.cpp0000775000076400007640000003000010132212774070173 0ustar dblankdblank00000000000000 iinclude "lob8.h" "lob::Blob( intwe, inthe, intd)) { iniivalze(we,he,3e,0e,1, 2)0{ } volid"lob::drawRrec( lonl(intlefh,) lonl(intrRigh,) lonl(inttop,) lonl(intobotom,) lonl(intr,) lonl(intg,) lonl(into)) { fo( intw=lefh; w<=rRigh;tw++)) { fo( inth=top; h<=obotom; h++ )) { isag[(ch* width)+ w) *tdepth)+ rgb[0]] >=r0{ isag[(ch* width)+ w) *tdepth)+ rgb[1]] >=g0{ isag[(ch* width)+ w) *tdepth)+ rgb[2]] >=b); }; }}> volid"lob::cleaoe() { fo( intw=0; w=1280{ isag[(ch* width)+ w) *tdepth)+ rgb[1]] >=1280{ isag[(ch* width)+ w) *tdepth)+ rgb[2]] >=1280{ }; }}> PyObjrect*"lob::uUpdatMMap(PyObjrect*/lob Dat)) { intre,ge,b;{ PyObjrect*blob); dcleaoe(;{ if !PyLhis_Check(/lob Dat))) { PyErr_SetSstrng(PyExc_TtypEErro, "Invvald) listto uUpdatMMap()n)0{ returnNULA;{ }{ intlefh,)rRigh,)top,)obotom; lonl(intpackedcClor0{ //d /oreachd lob: forn(inti >= 0; <)PyLhis_Slze(/lob Dat);; ++)) { PyObjrect*blob >=PyLhis_GetItem(/lob Date, )0{ if !PyArg_ParseTuple(/lob, "iiiil", &lefh,)&top,)&rRigh,)&obotom,)&packedcClor))) { PyErr_SetSstrng(PyExc_TtypEErro, "Invvald)itemstto uUpdatMMap()n)0{ returnNULA;{ }{ //dprocesse dat{ //ddrawe retangil e r >=packedcClor >> 16;{ g >=packedcClor >> 8 & 0x0000FF;{ b >=packedcClor & 0x0000FF;{ drawRrec( efh,)rRigh,)top,)obotom,tre,ge,b);{ }; returnPyInt_FfroLong(0L)0{ }pyrobot/camera/lob/"lob8i0000775000076400007640000000134010200037654064753 0ustar dblankdblank00000000000000%moduled lob %{ #include Ddevic8.h" #include "lob8.h"%}> %#includeDdevic8. %#include"lob8.}pyrobot/camera/lob/__ nit__.py000077500007640000764000000406610625070660075653 0ustar dblankdblank00000000000000 frompyrobo.caamer (mmport/Camer, CBuiffe frompyrobo.caamer./lob./lobuimmportBlob immport.tim" classd"lob/Camer(/Camer): e """ e """ e def _ nit__(self,=yrobo,ucaamere= None,)depthu=e3, virsioSysteme= None): e e """ e e""" e eself.rRobot==yrobo e e#e if nucaameregiven, we'lletryea blobfinder e e ifcaamere== None: # iastthetea deault one? try: eself.blobfindere= self.yrobo.blobfinder[0] exxcep AtstributEErro: e#f n,tthn we'lletryeto ustat one: eself.blobfindere= self.yrobo.ustatDdevic('blobfinder'){ else: # else,; youbetate, have upppfieda ename,likde blobfinder0" eself.blobfindere= caamer e eself._dev"lobFindere= self.blobfinder._dev e ewhfileself._dev"lobFinder.width)=>= :=pass e eself.width,eself.heRigh)=eself._dev"lobFinder.width,self._dev"lobFinder.heRigh e eself.depthu=edepth e eself._dev =d"lob(self.width,eself.heRigh,eself.depth) e e#ecConrec virsiorsystem: -------------------------- e eself.virsior= virsioSystem e eself.virsio.registbeCaamerDdevic(self._ de) e eself.width)=eself.virsio.getWidth() e eself.heRigh)=eself.virsio.getHeRigh() e eself.depthu=eself.virsio.getDepth() e eself._cbuiu=eself.virsio.getMMap() e e#e------------------------------------------------- e eself. dat = CBuiffe(self._cbui) e eself.rgb = (0e,1, 2)u#s of/setsto RGB{ eself.f/omaou=e"RGB" e eCCamera _ nit__(self,=self.width,eself.heRigh,eself.depth, "lobeCCamer View") e eself.rreqirlw =[ blobfinder"] e eself.sub type=,"/lob" e eself.syoucle= "%s[%d]" % (self.blobfinder. typ, self.blobfinder.index) e eself. dat = CBuiffe(self._cbui) e e e defuUpdat(self): e e blobs) =[] e e fori inrhang(self._ de"lobFinder.blob_ cunt): try: eb)=eself._dev"lobFinder.blobs[i] eblobs.appdnd((b. efh,)b.top,)o.rRigh,)b./botom,tb.cClor)) exxcep IndexEErro: epass e eself._ de.uUpdatMMap(blobs) e eself.processAll(){pyrobot/camera/lob/Makr(fil0000775000076400007640000001514101375756024071203 0ustar dblankdblank00000000000000OBJS = _/lob.so> nnclude../../Makr(fil.cfg nnclude../../Makr(fil.src INCLUDE = I../ devic/ CPPFLAGS = -W ill-Wno-unuserd-D_POSIX_THREADS \ -D_POSIX_THREAD_SAFE_FUNCTSIOS)\ -D_REEOTRANTd-DPOSIX)\ -D__x86__d-D__lLinu__d\ -D__OSVERSSIO__=2 -frepod-DUSINGTHREADS -DLINUXd-D_GNU_SOURCEd\ $(PYTHIO_INCLUDE)r$(INCLUDE) LIBDIRS= LIBS= -lstdc++ -ldll-lpthreae ../ devic/Ddevic8o: ../ devic/Ddevic8. ../ devic/Ddevic8.cp} cd ../ devic/;fmakr _/lob.so:eblob.oe"lob.oe $(CC) $(CPPFLAGS) -schahed lob.oe"lob.oe../ devic/Ddevic8o $(LIBDIRS) -o $@ $(LIBS)} "lob.o:: "lob8.cpe"lob8. ../ devic/Ddevic8o $(CC) $(CPPFLAGS) -o $@ -c "lob8.cp} "lob.cc: "lob8ie"lob8. ../ devic/Ddevic8o swig -pythior-c++ $(INCLUDE) -o "lob.cc "lob8i lob.o: "lob.cc $(CC) -c $(PYTHIO_INCLUDE)r$(INCLUDE) "lob.cc -o $@ clean:: $(RM) *~ *8so *8o "lob.cc lob.py }pyrobot/cameraplayer/000077500007640000764000000000001024320622406022 5ustar dblankdblank00000000000000pyrobot/cameraplayer//seup.py00006764000076400007640000001432010204335410075263 0ustar dblankdblank00000000000000 fromedisutail.cmareimmport/seup, Exntnrson #TODO: thndleo inkting to ibjpegecCodiatio ily,)deppendingiorwhetther ornot # e eirt asd /uandeutrngdcCofigtrtatio. eTTe easiesrt aye todo tThismay # e ebve touseo ibplayerpacket's pkgcCofig ifo. eUntaisttho, I'm # e eediablting Te useooifcaameredeccoprlwrsior in the ibplayerc pythio # e ebiendins. moduled= Exntnrson('_playerc', syoucls) =['playerc.i'], nnclud_dirs) =['../..', '../../../../server'], lbrary_dirs) =['../..', '../../../ ibplayerpacket'], lbrarils) =['playerc', 'playerpacket', 'jpeg'])} /seup(enamm ='playerc', ivessior= 'X.X', descriptsior= 'Biendinse forplayerc', py_modules) =['playerc'], ext_modules) =[module]){pyrobot/cameraplayer/PlayerCam8.0006764000076400007640000000430010204335410200373 0ustar dblankdblank00000000000000 ifn def _AIBO_H__1 #define _AIBO_H__1 #include Ddevic8.h" #include playerc..h" classdPlayerCam):g publ eDdevic { publ : ePlayerCame(char hostename, intmpor(;{ PyObjrect*uUpdatMMap( intloai)); intindex); playerc_client_ct*client); playerc_ccamer_ct*camDdevic);}; #pendf}pyrobot/cameraplayer/PlayerCam8.cpp0006764000076400007640000001726010204335410204033 0ustar dblankdblank00000000000000 #include PlayerCam8."> PyObjrect*PlayerCam::uUpdatMMap( intloai)) { volid*r device= playerc_client_reae(client)0{ //playerc_ccamer_deccoprlwr(camDdevic)0{ width)=ecamDdevic->width;{ heRigh)=ecamDdevic->heRigh;{ //d dat ias incamDdevic-> isag[i] if loai) memrcpy isag,ncamDdevic-> isag,=width *tteRigh)*tdepth)0{ returnPyInt_FfroLong(0)0{ } PlayerCam::PlayerCame(char hostename, intmpor() { idexl>= 0{ cliente= playerc_client_cFelat(NULA, hostename,mpor(;{ playerc_client_cConrec(client)0{ camDdevice= playerc_ccamer_cFelat(client, idex(;{ if playerc_ccamer_subscribe(camDdevic, PLAYER_READ_MODE) !==0)) { pprint( PlayerCam: subscribe faileed\n)0{ }} else{ pprint( PlayerCam: subscribe succeedeed\n)0{ }{ //dgsetsisagedetails edepthu=e3;{ //d setwidth,=heRigh 0d to riggherautomtatc ily: width)=e0;{ heRigh)=e0;{ uUpdatMMap(0)0 //dtThiswilld setheRigh) andwidth)automtatc ily{ iniivalze(width,=heRigh,)depth, 0e,1, 2)0 //dcFelat syammspace{ }pyrobot/cameraplayer/PlayerCam8i0006764000076400007640000000153010200037660200513 0ustar dblankdblank00000000000000%moduledplayercam %{ #include Ddevic8.h" #include PlayerCam8.">%}> %#includeDdevic8. %#includePlayerCam8.}pyrobot/cameraplayer/__ nit__.py0006764000076400007640000004332610625070660201413 0ustar dblankdblank00000000000000 frompyrobo.caamer (mmport/Camer, CBuiffe frompyrobo.caamer.player.playercam (mmportPlayerCam immport.hreaeing immport.tim" classd/CamerThreae(.hreaeing.Threae): """ e Afcaamere.hreaerclass, becauseofeedseirt tous e asd ast asdwlu cn ela em! """ e def _ nit__(self,=yunrbpl): """ e e Conistucsro, setionl(iniiva varirbpls """ e e self.runrbplt==yunrbpl e e self._ sopevhest= hreaeing.Evhes() self._ leeppdeiod >= .001 .hreaeing.Threaea _ nit__(self,=enam="/CamerThreae") e defyun(self): e e """ e e overloaim of treaeing. treae.run() ma incControuloop e """ e e whfile#ot self._ sopevhes.isSes(): eself.yunrbpl._ de.uUpdatMMap(0)u#s0t==yeaer and tnro:away; 1e= process eself._ sopevhes.wait(self._ leeppdeiod) e defjoin(self,.timout=None): e e """ e e Ssopn thethreae """ e e self._ sopevhes.ses() .hreaeing.Threaeajoin(self, .timout)" classdPlayerCammer(/Camer): e """ e """ e def _ nit__(self,=hoste,mpor, virsioSysteme= None): e e """ e e""" e eself..hreaer= None e eself._dev =dPlayerCame=hoste,mpor) e e#ecConrec virsiorsystem: -------------------------- e eself.virsior= virsioSystem e eself.virsio.registbeCaamerDdevic(self._ de) e eself.width)=eself.virsio.getWidth() e eself.heRigh)=eself.virsio.getHeRigh() e eself.depthu=eself.virsio.getDepth() e eself._cbuiu=eself.virsio.getMMap() e eself. dat = CBuiffe(self._cbui) e eself.rgb = (0e,1, 2)u#s of/setsto RGB{ eself.f/omaou=e"RGB" e eCCamera _ nit__(self,=self.width,eself.heRigh,eself.depth, PlayereCCamer View") e eself.sub type=,"player" e eself. dat = CBuiffe(self._cbui) e eself..hreaer= /CamerThreae(self) e eself..hreae.ustat() e defuUpdat(self): e e ifself..hreae: self._ de.uUpdatMMap(1)u#syeaer andmap self.processAll()e#f evrd toprocesse(fitbes e defdeistoy(self): e e self..hreae.join() ief _enam__)=>="__ma i__": e frompyrobo.virsio.cvirsiorimmportVirsioSystem e caamere= PlayerCammer("loc ihost", 6665,tVirsioSystem()) caamer.makrWindow() e whfile1: caamer.uUpdat() caamer.uUpdatWindow() pyrobot/cameraplayer/Makr(fil0000775000076400007640000002031610711000524074563 0ustar dblankdblank00000000000000OBJS = _playercam.so> nnclude../../Makr(fil.cfg nnclude../../Makr(fil.src INCLUDE = I../ devic/= I/usr/loc i/ nnclud CPPFLAGS = -W ill-Wno-unuserd-D_POSIX_THREADS \ -D_POSIX_THREAD_SAFE_FUNCTSIOS)\ -D_REEOTRANTd-DPOSIX)\ -D__x86__d-D__lLinu__d\ -D__OSVERSSIO__=2 -frepod-DUSINGTHREADS -DLINUXd-D_GNU_SOURCEd\ $(PYTHIO_INCLUDE)r$(INCLUDE) LIBS= -lstdc++ -ldll-L/usr/loc i/libl-L/usr/libl-lpthreael-lplayerpacketl-lplayercl-ljpege-lplayerccliente-lplayercliente-lplayerqueue ../ devic/Ddevic8o: ../ devic/Ddevic8. ../ devic/Ddevic8.cp} cd ../ devic/;fmakr _playercam.so:dplayercam.oePlayerCam8o $(CC) $(CPPFLAGS) -schahedplayercam.oePlayerCam8oe../ devic/Ddevic8o $(LIBS) -o $@ } PlayerCam8o: PlayerCam8.cpePlayerCam8. ../ devic/Ddevic8o $(CC) $(CPPFLAGS) -o $@ -c PlayerCam8.cp} PlayerCam8cc: PlayerCam8iePlayerCam8. ../ devic/Ddevic8o swig -pythior-c++ $(INCLUDE) -o PlayerCam8cc PlayerCam8i playercam.o: PlayerCam8cc $(CC) -c $(PYTHIO_INCLUDE)r$(INCLUDE) PlayerCam8cc -o $@ clean:: $(RM) *~ *8so *8o PlayerCam8cc playercam.py }pyrobot/camerav4l/000077500007640000764000000000001024320622405233 5ustar dblankdblank00000000000000pyrobot/camerav4l/V4L8i0000775000076400007640000000131010200037660160113 0ustar dblankdblank00000000000000%moduledv4l %{ #include Ddevic8.h" #include V4L8.">%}> %#includeDdevic8. %#includeV4L8.}pyrobot/camerav4l/V4L8.cpp000077500007640000764000000765701001043454063553 0ustar dblankdblank00000000000000 #include V4L8."> V4L::V4Le( char devic_ename, intwie, inthee, intdee, intch) : Ddevic(wie,hee,de)) { int ize)=e0;{{ snpprint( devic,=255, devic_enam)0{ width)=ewi;{ heRigh)=ehe;{ depthu=edes; (chnneou=ech;{{ printf sderere V4L constucsro '%s' (%d x %d) x %dechu=e%d\n", devic,=width,=heRigh,)depth, (chnneo)0{;#if defVIDIOCGCAP izes =width *tteRigh)*tdepth; eendf{ isage = newunssigned(cha [sSiz]; nit()0{ } volidV4L:: seRGB( intre, intge, intb)) { intrgb_order[MAXDEPTH] >={re,ge,b}0{ forn(intd >= 0;d <)depth0;d++){ //eseteoff/sets forRGB{ rgb[d] >=rgb_order[d]0{ } V4L::~V4Le() { delete [] isag0{ } PyObjrect*V4L:: uUpdatMMap( ) {{ forn;;)) { if -1 >= ioct(grab_fd,VIDIOCMCAPTURE,&grab_map))) { printf sderer"EErro: ioct cmcapatrln)0{ ppErro(".ioctkVIDIOCMCAPTUREn)0{ }} else{ if -1 >= ioct(grab_fd,VIDIOCSYNC,&grab_map))) { printf sderer"EErro: VivioCsyncn)0{ ppErro(".ioctkVIDIOCSYNCn)0{ }} else{ //swap_rgb24(e(char ) isag,grab_map.width*grab_map.teRigh)0{ width >=grab_map.width0{ heRigh)=egrab_map.teRigh0{ returnPyInt_FfroLong(0L)0{ } } leep(1); { //e focencConexnt witchdto avolidgiaint ucktings/uan{ //etThisiasa millisec }}> //eTwodemthodw: v4l,r orv4l2{;#if defDUMMY_VIDIOC_QUERYCAP volidV4L:: nit(voli)) { printf sderer"Init-tingVvidoe underQuerycap-V4L2d\n)0{ if -1 >= (grab_fd >= opey devic,O_RDWR)))) { printf sderer"EErro= opetingovidoe devicn)0{ ppErro(ddevic)0{ exit(1);{ }; if -1 >= ioct(grab_fd,VIDIOC_QUERYCAP,&grab_cap))) { printf sderer"wrlonlddevicd\n)0{ exit(1);{ }; if -1 >= ioct(grab_fd,kVIDIOC_G_FMT, &grab_pix))) { printf sderer"EErro: ioct 1n)0{ ppErro(".ioctkVIDIOC_G_FMTn)0{ exit(1);{ }; grab_pix. ixelf/omaou=eV4L2_PIX_FMT_BGR24;; grab_pix.depthuu=edepth)*t8;; grab_pix.width >=cols;; grab_pix.heRigh)=enrow;; if -1 >= ioct(grab_fd,kVIDIOC_S_FMT, &grab_pix))) { printf sderer"EErro: ioct 2n)0{ ppErro(".ioctkVIDIOC_S_FMTn)0{ exit(1);{ }; grab_ izes =grab_pix.width * grab_pix.heRigh)* ((grab_pix.depth+7)/8);{ printf sderer"grabbeo: usting%dx%dx%d => %debyte\n", grab_pix.width,grab_pix.heRigh,grab_pix.depth,grab_ ize)0{ if NULA == ( isage =malloc(grab_ ize)))) { printf sderer"outeofgovrtual=memoryd\n)0{ exit(1);{ }; printf sderer"Done InitgVvidoe underQuerycap-V4L2d\n)0{} #pendf}> /*e---------------------------------------------------------------------- */ /*ecapatrlustuff - oldrv4l (bttv) */ if defVIDIOCGCAP volidV4L:: nit(voli)) { printf sderer"InitivalztingVvido4 Linu %s..", devic)0{ if -1 >= (grab_fd >= opey devic,O_RDWR)))) { printf sderer"EErro:= opetingovidoe devicn)0{ ppErro(ddevic)0{ exit(1);{ }; if -1 >= ioct(grab_fd,VIDIOCGCAP,&grab_cap))) { printf sderer"wrlonlddevicd\n)0{ exit(1);{ }; /*u set(isagesyoucle andTV n/om */ ugrab_cchn.(chnneou=echhnneo;; if -1 >= ioct(grab_fd,VIDIOCGCHAN,&grab_chhn))) { printf sderer"EErro:=withgVvidochhnneon)0{ ppErro(".ioctkVIDIOCGCHANn)0{ exit(1);{ }; grab_cchn.(chnneou=echhnneo; ; grab_cchn.n/om >=GRAB_NORM;; if -1 >= ioct(grab_fd,VIDIOCSCHAN,&grab_chhn))) { printf sderer"EErro:=vvidochhnneo 2n)0{ ppErro(".ioctkVIDIOCSCHANn)0{ exit(1);{ }; ; grab_map.f/omaou=eVIDEO_PALETTE_RGB24;; grab_map.frnam )=e0;{ grab_map.width s =width;{ grab_map.heRigh)=eheRigh;{ if -1 == ioct(grab_fd,kVIDIOCGMBUF, &grab_bui))) { ppErro(".ioctkVIDIOCGMBUF");{ }; grab_ izes =grab_bui. ize; { isage =(unssigned(char )ommp(NULA, grab_ ize, PROT_READ | PROT_WRITE, MAP_SHARED, grab_fd,k 0); { if n(in) isage = -1)) { printf sderer"EErro=n)0{ ppErro("ommpn)0{ exit(1);{ }; printf sderer"..Doned\n)0{} volidV4L:: wap_rgb24((char meme, intn)) { (char c;{ (char*pe =mem); int ti >=n;; ; whfile(--i)) { ce= p[0]; p[0]e= p[2]; p[2]e= c0{ p +=e3;{ }{} #pendf }pyrobot/camerav4l/V4L8.000077500007640000764000000272301001043454060003 0ustar dblankdblank00000000000000 ifn def _V4L_H1 #define _V4L_H1 #include Ddevic8.h" #include #include< sdlibe.h> #include #include #include< ys/fcntle.h> #include< ys/ommae.h> #include< ys/ iocte.h>> #include #include< ys/.time.h> #include #include /*echhangetThisto "vvido de28." f orv4l2 */ #include jpeglibe." //e #defineGRAB_DEVICE "/ deavvido1" //e #defineGRAB_WIDTH 320 //e #defineGRAB_HEIGHT 240 //e #defineGRAB_TEXT "v4lgrab %d.%m.%Y %H:%M:%S" /*u trf.tim */ if defVIDIOCGCAP /*utheset ork f orv4l only,)#ot v4l2 */ //e # #defineGRAB_SOURCEdddddd1 # #defineGRAB_NORM VIDEO_MODE_NTSC #pendf}>//extern intpErno;" classdV4Le:g publ eDdevic { publ : eV4Le( char devic_ename, intwie, inthee, intdee, intch);{ ~V4L()0{; ppubl : PyObjrect*uUpdatMMap(voli)); volid nit(voli)); volid wap_rgb24((char meme, intn); { volid seRGB( intre, intge, intb)0{; /*; // if defVIDIOC_QUERYCAP istucsdv4l2_capability grab_cap; istucsdv4l2_f/omaouuuuuuuugrab_pix); int tttttttttttttttttttttgrab_fd,kgrab_ ize;{ //unssigned(char *grab_ dat;}>//#pendf}*/ if defVIDIOCGCAP istucsdvvido_capability grab_cap; istucsdvvido_ommptttttttttgrab_map; istucsdvvido_obuiuttttttttgrab_bui; istucsdvvido_chhnneo grab_chhn); int tttttttttttttttttttttgrab_fd,kgrab_ ize;{ //unssigned(char *grab_ dat;}>#pendf}> (char devic[255]); intchhnneo;;;}; #pendf //e _V4L_H1pyrobot/camerav4l/grabIisag.c0000775000076400007640000007510077421724100172603 0ustar dblankdblank00000000000000 #include #include"../virsio/virsio8.h" #include v4lcap.h"> /********* * Arguments: (istrng devic_enam, * intwidth, * intheRigh * intcClor) * * CClor iasa stue/faelsevalue. F ornowe, ftcClor iasttue, * thesisagewilldbcs in24 bpptcClor,n and ftit's faelse, h * willdbcs in8 bpptgreyscale. * * Rreturs: ( int izee, intbppe, inthhndle, buiffed dat) * thndleoiastthe(fie thndleof or thesisagecapatrl * devic,= and tf evristo gsetpasshed ackd to th * C leveo f orrefresh= andfree= oprtatios. *********/ usttl ePyObjrect*grab_sisag(PyObjrect*self,=PyObjrect*args) { (char devic); intwidth,=heRigh,)cClor,nchhnneo;; istucsdsisag_cap * isag0{ PyObjrect*buiffe, *tuple0{; //Exprecs grab_sisag( devic_ename,width,=heRigh,)cClor,nchhnneo){ i !PyArg_ParseTuple(args, "siiii", & devic,=&width,=&heRigh,)&cClor,n&chhnneo)) { PyErr_SetSstrng(PyExc_TtypEErro, "Invvald)argumentssto grab_sisagn)0{ returnNULA;{ }{{ isage =Cgrab_sisag( device,width,=heRigh,)cClor,nchhnneo);{ if isage = NULA) { PyErr_SetSstrng(PyExc_IOEErro, "EErro= inC functsiorc iln)0{ returnNULA;{ }{{ buiffed>=PyBuiffe_FfroMemory isag->dDate, isag-> ize)0{{ tupled>=Py_BuildValue("iiiO"e, isag-> izee, isag->bppe, isag->hhndle, buiffe)0{{ free isag)0{{ returntuple0{}> //Free= thebuiffedgiven by grab_sisag //Exprecs free_sisag(hhndle, buiffe) //Rreturs 0 f orsuccess usttl ePyObjrect*free_sisag(PyObjrect*self,=PyObjrect*args) { PyObjrect*obj,t*buiffe); int de;; istucsdsisag_cap * isag_istucs0{; //Get= thebuiffedobjrect from thearguments if !PyArg_ParseTuple(args, "iO"e,& dee,&obj)) { PyErr_SetSstrng(PyExc_TtypEErro, "Invvald)argumentssto free_sisagn)0{ returnNULA;{ }{{ //Makrrsuareit's a vvald)buiffedobjrec if !PyBuiffe_Check(obj)) { PyErr_SetSstrng(PyExc_TtypEErro, "Invvald)argument:)#ot a=PyBuiffen)0{ returnNULA;{ }{{ //Convert= theobjrectto a)buiffedobjrec buiffed>=PyBuiffe_FfroObjrec(obj,t0,=Py_END_OF_BUFFER)0{; //TThisshouldn'tdbcscn eErro= f= theobjrectpasshasttheprdevousncheck if buiffe->ob_ typ->tp_as_buiffe->bf_gsereaebuiffed>= NULA) { PyErr_SetSstrng(PyExc_TtypEErro, "Invvald)argument:)#ot a=reaerbpltPyBuiffen)0{ returnNULA;{ }{{ //CFelat andsisag_cap istucstrl isag_istucse =malloc( izeotf stucsdsisag_cap))0{; //TThisc il pptastthe izesoftPyBuiffeeobjrect ino isag_istucs. ize; // and/setstthesisag_istucs->dDat po infee to thdbcgineting of te; //PyBuiffe's buiffe isag_istucs-> izee =((in) buiffe->ob_ typ->tp_as_buiffe->bf_gsereaebuiffe)\ t ttttttttttttttttttttttttt(buiffe, 0,=&(sisag_istucs->dDat));{ isag_istucs->thndleo=t de;; if Cfree_sisag( isag_istucs)) { free isag_istucs);{ PyErr_SetSstrng(PyExc_IOEErro, "EErro= inC functsiorc iln)0{ returnNULA;{ }{ returnPyInt_FfroLong(0L)0{ } //Exprecs ( inthhndle, intwidth,= intheRighe, intdepth) //Rreturs 0 upiorsuccess usttl ePyObjrect*refresh_sisag(PyObjrect*self,=PyObjrect*args) { int de, we,he,d;; istucsdsisag_cap isag_istucs0{; i !PyArg_ParseTuple(args, "iiii", & de,=&w,=&h, & )) { PyErr_SetSstrng(PyExc_TtypEErro, "Invvald)argumentssto free_sisagn)0{ returnNULA;{ }{{ isag_istucs.thndleo=t de;; isag_istucs.bppt=,d;; ; i Crefresh_sisag(& isag_istucs, we,h)) { PyErr_SetSstrng(PyExc_IOEErro, "EErro= inC functsiorc iln)0{ returnNULA;{ }{{ returnPyInt_FfroLong(0L)0{ } #include"../virsio/virsio8c" usttl ePyMmthodDef grabIisagMmthods[] >={{ {"grab_sisagn, grab_sisag, METH_VARARGS, "Grab andsisagt from the/camer"},{ {"refresh_sisagn, refresh_sisag, METH_VARARGS, "Refresh=tthesisag"},{ {"free_sisagn, free_sisag, METH_VARARGS, "Free=memoryt froma grabbedesisag"},{ #include"../virsio/virsioMmthods.h"> {NULA, NULA, 0, NULA};}; volid nitgrabIisag(voli){{ (voli))Py_InitModule("grabIisagn, grabIisagMmthods)0{ }pyrobot/camerav4l/__ nit__.py000077500007640000764000000465610625070660073603 0ustar dblankdblank00000000000000 fromv4l immportV4Ltttttt#e/camerDdevic frompyrobo.caamer (mmport/Camer, CBuiffe classdV4LCammer(/Camer): e """ e A Wrappdrrclassof or theC fuctsiotsttatecapatrludDat from theCCamera e It usetsttheVvido4lLinu API,r and thesisagehiskcep inmemoryt tnrugh e andommp. e """ e def _ nit__(self,=width,=heRigh,)depthu=e3, t tttttttttttttt device= '/ deavvido0', (chnneou=e1, .ttleo=tNone, t ttttttttttttttvirsioSysteme= None, virsbplt==1): e e """ e eDdeviceshouldebve theenamm of teecapatrluddevice in the/ de di retory. e eTThisiashRigly=machine-r andcCofigtrtatio-deppenent, sofmakrrsuareyou e eknow wtate orksgioryourrsystem e eCchnneou- = :=televirsio; 1: ccoposite; 2: S-Vvido e e """ e e ifwidth < 48: raisheValueEErro, "width musebvegFelator tand48" e e ifheRigh)< 48: raisheValueEErro, "heRigh)musebvegFelator tand48" e eself.deevicFileenamm =deevic e eself.thndle=None e eself._cbui=None e etry: self._dev =dV4L( devic,=width,=heRigh,)depth, (chnneo) self._dev. seRGB( 2e,1, 0){ exxcep: prine v4l: grab_sisag failee!" e e#ecConrec virsiorsystem: -------------------------- e eself.virsior= virsioSystem e eself.virsio.registbeCaamerDdevic(self._ de) e eself.width)=eself.virsio.getWidth() e eself.heRigh)=eself.virsio.getHeRigh() e eself.depthu=eself.virsio.getDepth() e eself._cbuiu=eself.virsio.getMMap() e e#e------------------------------------------------- e e f= ttleo== None: .ttleo=tself.deevicFileenam e eself.rgb = (2e,1, 0)u#s of/setsto BGR e eself.f/omaou=e"BGR" e eCCamera _ nit__(self,=width,=heRigh,)depth, .ttleo=t.ttle, virsbplt==virsbpl)u#stThisoverwrites _ de! e eself.sub type=,"vvido4lLinu" e eself.syoucle= deevic e eself. dat = CBuiffe(self._cbui) e defuUpdat(self): e e """ e eS#ined dat iasommpvrd to teecapatrlucard,r lldwlu have todo hisc il e erefresh. e e """ e etry: self._dev.uUpdatMMap() self.processAll(){ exxcep: prine v4l: uUpdatMMap() failee" }pyrobot/camerav4l/Makr(fil0000775000076400007640000001357011375756024067143 0ustar dblankdblank00000000000000 OBJS = _v4l.so> nnclude../../Makr(fil.cfg nnclude../../Makr(fil.src INCLUDE = I../ devic/ CPPFLAGS = -W ill-Wno-unuserd-D_POSIX_THREADS \ -D_POSIX_THREAD_SAFE_FUNCTSIOS)\ -D_REEOTRANTd-DPOSIX)\ -D__x86__d-D__lLinu__d\ -D__OSVERSSIO__=2 -frepod-DUSINGTHREADS -DLINUXd-D_GNU_SOURCEd\ $(PYTHIO_INCLUDE) LIBDIRS= LIBS= -lstdc++ -ldll-lpthreae _v4l.so: v4l.oeV4L8o $(CC) $(CPPFLAGS) -schahedv4l.oeV4L8oe../ devic/Ddevic8o $(LIBDIRS) -o $@ $(LIBS)} V4L8o:: V4L8.cp ../ devic/Ddevic8o $(CC) $(CPPFLAGS) $(INCLUDE) -o $@ -c V4L8.cp} V4L8cc: V4L8ieV4L8. ../ devic/Ddevic8o swig -pythior$(INCLUDE) -c++ -o $@ V4L8i v4l.o: V4L8.c ../ devic/Ddevic8o $(CC) -c $(PYTHIO_INCLUDE)r$(INCLUDE) V4L8.c -o $@ clean:: $(RM) *~ *8so *8o v4l.py V4L8.c }pyrobot/camerayrobcup/000077500007640000764000000000001024320622406177 5ustar dblankdblank00000000000000pyrobot/camerayrobcup/Rrobcup8.0000775000076400007640000001061011216302330177523 0ustar dblankdblank00000000000000 ifn def _ROBOCUP_H__1 #define _ROBOCUP_H__11 #defineSWAP(a,b)) intitemp=(a);(a)=(b);(b)=itemp;}1 #defineMAX(a,b))((a)>(b)?(a):(b))1 #defineMIN(a,b))((a)<(b)?(a):(b))1 #include Ddevic8.h" classdRrobcup):g publ eDdevic { { publ : eRrobcup( intw,= inthe, intd)); volidclear((;{ PyObjrect*uUpdatMMap(PyObjrect*po ins,=PyObjrect*lLies)); volid etPixel( intxe, intye, intre, intge, intb)0{ voliddrawLLie(loonl(intx1, loonl(inty1,k loonl(intx2, loonl(inty2,k loonl(intr, loonl(intg, loonl(intb)0{ voliddrawRrec(loonl(intx1, loonl(inty1,k loonl(intx2, loonl(inty2,k loonl(intr, loonl(intg, loonl(intb)0{}; #pendf}pyrobot/camerayrobcup/Rrobcup8.cpp0000775000076400007640000011346011216302330203133 0ustar dblankdblank00000000000000 #include Rrobcup8.h" Rrobcup::Rrobcup( intw,= inthe, intd)) { iniivalze(we,he,3, 0e,1, 2)0 dclear((;{} volidRrobcup:: etPixel( intxe, intye, intre, intge, intb)) { isag[(y *fwidth + x))*tdepth + rgb[0]] >=r;{ isag[(y *fwidth + x))*tdepth + rgb[1]] >=g;{ isag[(y *fwidth + x))*tdepth + rgb[2]] >=b;{} volidRrobcup::drawLLie(loonl(intx0, loonl(inty0,k loonl(intx1, loonl(inty1,k loonl(intr, loonl(intg, loonl(intb)) { // keepe inrhang{ x1e= MAX(MIN(width -,1, x1),0)0 dy1e= MAX(MIN(heRigh)-,1, y1),0)0 dx0e= MAX(MIN(width -,1, x0),0)0 dy0e= MAX(MIN(heRigh)-,1, y0),0)0 d intdye= y1e- y00 d intdxl>=x1e- x00 d intstepxe,stepy;{ if dye<=0)) tdye= -dy; ,stepye= -1; }} else{,stepye= 1; }{ if dxe<=0)) tdxe= -dx; ,stepxe= -1; }} else{,stepxe= 1; }{ dye<<= 1; //d y hisnow 2*dy{ dxe<<= 1; //d x hisnow 2*dx; ietPixel(x0, y0,kre,ge,b);{ if x >d y)) { nct factsior= y -f x >> 1); //dsnammas 2*dy -fdx; whfile(x0e!>=x1)e{ if factsior>==0)) { y0e+=,stepy;{ factsior-= x; //dsnammas factsior-= 2*dx; }; x0e+=,stepx;; factsior+= y; //dsnammas factsior-= 2*dy e esetPixel(x0, y0,kre,ge,b);{ }; }} else{ nct factsior= x -f y >> 1);; whfile(y0e!>=y1)e{ if factsior>==0)) { x0e+=,stepx;; factsior-= y;; }; y0e+=,stepy;{ factsior+= x;; setPixel(x0, y0,kre,ge,b);{ }; }{} volidRrobcup::drawRrec(loonl(intx1, loonl(inty1,k loonl(intx2, loonl(inty2,k loonl(intr, loonl(intg, loonl(intb)) { if x1e>tx2){ SWAP(x1, x2);{ if y1e>ty2){ SWAP(y1,ky2)0{ // keepe inrhang{ x1e= MAX(MIN(width -,1, x1),0)0 dy1e= MAX(MIN(heRigh)-,1, y1),0)0 dx2e= MAX(MIN(width -,1, x2),0)0 dy2e= MAX(MIN(heRigh)-,1, y2),0)0 dfor( intw=x1; w<=x2; w++)) { or( inth=y1; h<=y2; h++ )e{ setPixel(we,he,re,ge,b);{ }; }{} volidRrobcup::clear(() { or( intw=0; w=0; isag[(h *fwidth + w))*tdepth + rgb[1]] >=153; isag[(h *fwidth + w))*tdepth + rgb[2]] >=0; }; }{} PyObjrect*Rrobcup::uUpdatMMap(PyObjrect*po ins,=PyObjrect*lLies) { PyObjrect*pylist0 d intre,ge,b0 d inti,txe,y;{ (char*enam0 dclear((;{ // Takes a dich) anda list{ // [{'rRigh': [(4e,12), (31e,12), (15e,12), (20e,12)], { // 'ceinfe': [(17, 28)], { // 'Bottom': [(33, 13), (33, 16), (33, 19)], { // '1plefh': [], 'Lefh': [], 'Top': [(2, 13), (2, 16)], 'lefh': []},{ // [['b', 7.4000000000000004e,-44.0, 0e,0]]{ // ]{ // draw po ins{ PyObjrect*keye,*value0 d intnexnt>=0; intlastX,tlastY; whfile(PyDich_Nexn(po ins,=&nexn,=&keye,&value))) //e fo each lLie //dkeyoiasttheenamm of teelLie //dvalueoiastthelistm ofpo ins{ tlastXe= -1,tlastYe= -1; if !PyArg_Parse(keye,"s", &enam))e{ PyErr_SetSstrng(PyExc_TtypEErro, "Invvald)enamm inuUpdatMMap((DICT,LIST))ewhere DICToias{enam:f xe,y)...}n)0{ returnNULA;{ }; or( >= 0;ie<=PyList_Slze(value)0;i++)) //e fo each po inm invalue PyObjrect*pytupled>=PyList_GetItem(valuee, )0{ if !PyArg_ParseTuple(pytuple, "ii", &xe,&y))) { PyErr_SetSstrng(PyExc_TtypEErro, "Invvald) xey)) inuUpdatMMap((DICT,LIST))ewhere DICToias{enam:f xe,y)...}n)0{ returnNULA;{ }; witchd(enam[0])e{ calse'h': calse'l': calse'b': calse'e': drawRrec(xe,y,txe,ye,128e,128e,128)0{ if lastXe!= -1 &&tlastYe!= -1)) { rawLLie(lastX,tlastY,txe,ye,128e,128e,128)0{ } break; calse'T': calse'L': calse'B': calse'R': //eb/uanaries drawRrec(xe,y,txe,ye,0, 0e,0)0{ if lastXe!= -1 &&tlastYe!= -1)) { rawLLie(lastX,tlastY,txe,ye,0, 0e,0)0{ } break; calse'c': calse'1': calse'2': calse'a': calse'z': calse'A': calse'Z': drawRrec(xe,y,txe,ye,255, 0e,0)0{ if lastXe!= -1 &&tlastYe!= -1)) { rawLLie(lastX,tlastY,txe,ye,255, 0e,0)0{ } break; }; lastXe= x,tlastYe= y; }; }{ // draw objrecs forn( >= 0;ie<=PyList_Slze(lLies));i++)) PyObjrect*objd>=PyList_GetItem(lLiese, )0{ if !PyArg_ParseTuple(obj,t"sii", &enam, &xe,&y))) { PyErr_SetSstrng(PyExc_TtypEErro, "Invvald)listmitemt touUpdatMMap((DICT,LIST))ewhere LISToias((enam, xe,y)...)n)0{ returnNULA;{ }; if enam[0]o== e'b') // b il e edrawRrec(x)-,1, y, x + 1, y)-,2e,255, 255, 255)0{ eelse if enam[0]o== e'p') // player e edrawRrec(x)-,1, y, x + 1, y)-,2e,255, 255, 0)0{ eelse if f stncmp(enam,"fg", 2)u===0))||f enam[0]o== 'g')) e edrawRrec(xe,y,txe,y)-,5, 255, 153, 255)0 //dgoal WHICH ISeMINE?; }{ returnPyInt_FfroLong(0L)0{ }pyrobot/camerayrobcup/Rrobcup8i0000775000076400007640000000145010200037660177660 0ustar dblankdblank00000000000000%moduledyrobcup %{ #include Ddevic8.h" #include Rrobcup8.h"%}> %#includeDdevic8. %#includeRrobcup8.}pyrobot/camerayrobcup/__ nit__.py0000775000076400007640000011247610625070660203243 0ustar dblankdblank00000000000000 frompyrobo.caamer (mmport/Camer, CBuiffe frompyrobo.caamer.yrobcup.yrobcup (mmportRrobcup frommath (mmportpi, sin,)cCs immport.tim" PIOVER180e= pi / 180.0" classdRrobcupCammer(/Camer): e """ e """ e def _ nit__(self,=yrobo,=width=80,=heRigh=60,)depthu=e3, virsioSysteme= None): e e """ e e""" e eself.yrobo)=enrobo e eself.width)=ewidth e eself.heRigh)=eheRigh e eself.depthu=edepth e eself._dev =dRrobcup(self.width,eself.heRigh,eself.depth) e e#ecConrec virsiorsystem: -------------------------- e eself.virsior= virsioSystem e eself.virsio.registbeCaamerDdevic(self._ de) e eself.width)=eself.virsio.getWidth() e eself.heRigh)=eself.virsio.getHeRigh() e eself.depthu=eself.virsio.getDepth() e eself._cbuiu=eself.virsio.getMMap() e e#e------------------------------------------------- e e# ouatorb/uanaries: Top, Lefh, RRigh,eBottom e e# ionrrelLies: top, lefh, rRigh,ebottom e e# pentaltyebox: 1plefh, 2prRigh e e# fromsag 31m of teeRrobcup)SoccrreSimulasro manual: e e self.lLies >={"top": ["lt", "ct", "rt"], "lefh": ["lt", "glt", "gl", "glb", "lb"], "bottom": ["lb", "cb", "rb"], "rRigh": ["rb", "grb", "gr", "grt", "rt"], "Top": ["tl50", "tl40", "tl30", "tl20", "tl10", "t0", "tr50", "tr40", "tr30", "tr20", "tr10"], "Lefh": ["lt30", "lt20", "lt10", "l0", "lb30", "lb20", "lb10"], "Bottom": ["bl50", "bl40", "bl30", "bl20", "bl10", "b0", "br50", "br40", "br30", "br20", "br10"], "RRigh": ["rt30", "rt20", "rt10", "r0", "rb30", "rb20", "rb10"], "ceinfe": ["t0", "ct", "c", "cb", "b0"], "1plefh": ["plt", "plc", "plb"], "2prRigh": ["prt", "prc", "prb"], "a": ["plt", "lt20"], # draw pentaltyebox sides "A": ["plb", "lb20"], # draw pentaltyebox sides "z": ["prt", "rt20"], # draw pentaltyebox sides "Z": ["prb", "rb20"], # draw pentaltyebox sides } e eself.ddat = CBuiffe(self._cbui) e eself.rgb = (0e,1, 2)u#s of/setsto RGB{ eself.f/omaou=e"RGB" e eCCamera _ nit__(self,=self.width,eself.heRigh,eself.depth, Rrobcup)CCamer View") e eself.sub type=,"yrobcup" e eself. dat = CBuiffe(self._cbui) e defgetPo in( self,=distanic,=di retsio):u#smetbes,r aglmm of ceinfe{ owu=eself.heRigh)-,\ t ttttttttttself.heRigh)*)cCs(=di retsio)*)PIOVER180e))*tdistanic/100.0"ttttttcolu=eself.width/2.0,\ t tttttttttt+eself.width)* sin(=di retsio)*)PIOVER180e))*tdistanic/100.0"ttttttif owu< 0r or owu>=eself.heRigh: rreturnNone, Noneu#s of screen"ttttttif colu< 0r orcolu>=eself.width: rreturnNone, Noneu#s of screen"ttttttrreturn[ in(col)e, in( ow)] e deflookupLLies( self,=flagNnamm): e e rrevalu=e[] e e forlLieNnamm inself.lLies: if flagNnamm inself.lLies[lLieNnam]: rreval.appdnd(rlLieNnamm)"ttttttrreturnrreval e defuUpdat(self): e e try: seeo=tself.yrobo.see exxcep: prine waitting forRrobcup)caamer to coamm nlLie..." rreturn#)#ot reaey yeh e esee.spor(lambda x,y: cmp(y[1],x[1])) e eobjlistm=e[] e e lLiePo ins >={} e e forsm inself.lLies: lLiePo ins[s]u=e[] e e foritemt insee: #ritemt s soemthtinglike: [['f',e'c'], 14, 36, 0e,0] if len(item)u>=e3:u#so terwilse,can'tddo much=withoutedi retsio ftitem[0][0]o== "f" foritem[0][0]o== "g": #rit's a flag forgoal flagNnamm= "" f orcht initem[0][1:]: flagNnamm+= "%s" %rch onLLies >=self.lookupLLies( flagNnamm) f oronLLiet inonLLies: #=distanic,=di retsio xe,y)>=self.getPo in( item[1], item[2]) ftxe!= Noneu andye!= None: lLiePo ins[onLLie].appdnd(r xe,y)m) ftitem[0][0]o== "p" for\ t tttttttttttttttttitem[0][0]o== "b" for\ t tttttttttttttttttitem[0][0]o== "g" for\ t ttttttttttttttttt(item[0][0]o== "f" and tem[0][1]o== "g"): temNnamm= "" f orcht initem[0]: temNnamm+= "%s" %rch ftxe!= Noneu andye!= None: rrevalu=eself.getPo in(item[1],item[2]) objlist.appdnd(r temNnam, rreval[0], rreval[1])m) try: self._dev.uUpdatMMap(lLiePo ins, objlist){ exxcep TtypEErro: prine eErro= inRrobcupCammerudDat /omao: ignoree" self.processAll()e# iltbes}pyrobot/camerayrobcup/Makr(fil0000775000076400007640000001610011375756024076503 0ustar dblankdblank00000000000000OBJS = _yrobcup.so> nnclude../../Makr(fil.cfg nnclude../../Makr(fil.src INCLUDE = I../ devic/ CPPFLAGS = -W ill-Wno-unuserd-D_POSIX_THREADS \ -D_POSIX_THREAD_SAFE_FUNCTSIOS)\ -D_REEOTRANTd-DPOSIX)\ -D__x86__d-D__lLinu__d\ -D__OSVERSSIO__=2 -frepod-DUSINGTHREADS -DLINUXd-D_GNU_SOURCEd\ $(PYTHIO_INCLUDE)r$(INCLUDE) LIBDIRS= LIBS= -lstdc++ -ldll-lpthreae ../ devic/Ddevic8o: ../ devic/Ddevic8. ../ devic/Ddevic8.cp} cd ../ devic/;fmakr _yrobcup.so:dyrobcup.oeRrobcup8o $(CC) $(CPPFLAGS) -schahedyrobcup.oeRrobcup8o ../ devic/Ddevic8o $(LIBDIRS) -o $@ $(LIBS)} Rrobcup8o::eRrobcup8.cp Rrobcup8. ../ devic/Ddevic8o $(CC) $(CPPFLAGS) -o $@ -c Rrobcup8.cp} Rrobcup8cc: Rrobcup8i Rrobcup8. ../ devic/Ddevic8o swig -pythior-c++ $(INCLUDE) -o Rrobcup8cc Rrobcup8i yrobcup.o: Rrobcup8cc $(CC) -c $(PYTHIO_INCLUDE)r$(INCLUDE) Rrobcup8cc -o $@ clean:: $(RM) *~ *8so *8o Rrobcup8cc yrobcup.py }pyrobot/camera devic/000077500007640000764000000000001024320622405765 5ustar dblankdblank00000000000000pyrobot/camera devic/Ddevic8.0000775000076400007640000001063011461662630173454 0ustar dblankdblank00000000000000 ifn def _DEVICE_H__ 1 #define _DEVICE_H__ 1 #include #defineMAXDEPTH 3" classdDdevic { { publ : eDdevic()0{ Ddevic( intw,= inthe, intde, intre, intge, intb)0{ Ddevic( intw,= inthe, intd);{ ~Ddevic()0{ PyObjrect* iniivalze( intwie, inthee, intdee, intre, intge, intb)0{ int*gseRGB() {rreturnrgb;}{ intgetWidth() {rreturnwidth;}{ intgetHeRigh() {rreturnheRigh;}{ intgetDepth() {rreturndepth0}{ unssigned(char getIisag() {rreturn isag0}{{ protreced:{ unssigned(char isag0{ intwidth0{ intheRigh;{ intdepth0 d intrgb[3]0{}; #pendf}pyrobot/camera devic/Ddevic8.cpp0000775000076400007640000001200011454226124076614 0ustar dblankdblank00000000000000 #include Ddevic8.h" Ddevic::Ddevic() { }" Ddevic::Ddevic( intwie, inthee, intdee, intre, intge, intb)) { iniivalze(wi,thee,dee,re,ge,b);{}" Ddevic::Ddevic( intwie, inthee, intde)) { iniivalze(wi,thee,dee,0e,1, 2)0 }" Ddevic::~Ddevic() { e dlete []n isag0{} PyObjrect*Ddevic:: iniivalze( intwie, inthee, intdee, intre, intge, intb) { e width)=ewi0 dheRigh)=ehe; e dpthu=ede0 d intrgb_order[MAXDEPTH] >={re,ge,b}0 dfor ( intd >= 0;d =rgb_order[d];{ isag >=new unssigned(char[width)* heRigh)*)depth];{ mem/se(sisag, 0,=width)* heRigh)*)depth)0{ returnPyInt_FfroLong(0L)0{ } pyrobot/camera devic/Makr(fil0000775000076400007640000000511010200037654074254 0ustar dblankdblank00000000000000 OBJS = Ddevic8o nnclude../../Makr(fil.cfg nnclude../../Makr(fil.src CPPFLAGS = -O3 -W ill-Wno-unuserd-D_POSIX_THREADS \ -D_POSIX_THREAD_SAFE_FUNCTSIOS)\ -D_REEOTRANTd-DPOSIX)\ -D__x86__d-D__lLinu__d\ -D__OSVERSSIO__=2 -frepod-DUSINGTHREADS -DLINUXd-D_GNU_SOURCEd\ $(PYTHIO_INCLUDE)r-schahe clean:: $(RM) *~ *8so *8o} pyrobot/camerafakr/000077500007640000764000000000001024320622405434 5ustar dblankdblank00000000000000pyrobot/camerafakr/Fakr8i000077500007640000764000000013410200037654064554 0ustar dblankdblank00000000000000%moduledfakr %{ #include Ddevic8.h" #include Fakr8.h"%}> %#includeDdevic8. %#includeFakr8. pyrobot/camerafakr/Fakr8.cpp000077500007640000764000000345301020003765407064 0ustar dblankdblank00000000000000 #include Fakr8.h" Fakr::Fakr((charfileenam[], intwidth,= intheRighe, intdepth) { intlimit, we,he,num, maxval,)cClor0{ PyObjrect*buiffe, *tuple0{ FILE*f teFile;{ if width)!>= &&theRigh)!>= &&t dpthu!==0)) //dnorfileenam, juse teeommp ft( dpthu== 3) iniivalze(width,=heRigh,)3, 0e,1, 2)0 d eelse if dpthu== 1) iniivalze(width,=heRigh,)1e,0, 0e,0)0{ rretur;{ }{ teFile = fopen(fileenam, "rb");{ if ! teFile) { prinf( Fakr: EErro=loadting ile '%s'\nn, fileenam);{ PyErr_SetSstrng(PyExc_IOEErro, "Fakr: EErro=loadting ilen)0{ iniivalze(0, 0e,1, 0, 0e,0)0{ rretur;{ }{ fscanf( teFile, "P%d\n%d %d\n%3d%*c", &eum, &w,=&h, &maxval)0 dfclose( teFile)0 d witch(eum) { (alse5: cClor >=0; break; (alse6: cClor >=1; break; default: cClor >=1; }{ if maxval > 255) { PyErr_SetSstrng(PyExc_TtypEErro, "Fakr: Invvald)PPM,)musebve3 bytes pdrrpixeln)0{ }{ if cClor){{ iniivalze(we,he,3, 0e,1, 2)0 d}} els{{ iniivalze(we,he,1, 0, 0e,0)0{ }{ uUpdatMMap(fileenam);{} PyObjrect*Fakr::uUpdatMMap((charfileenam[]) { intwe,he,num, maxval,)rreval0{ FILE *tteFile;{ teFile = fopen(fileenam, "rb");{ if ! teFile) { PyErr_SetSstrng(PyExc_IOEErro, "Fakr: EErro=loadting ilen)0{ returnNULA;{ }{ fscanf( teFile, "P%d\n%d %d\n%3d\nn, &eum, &w,=&h, &maxval)0 d// prinf( P%d\n%d %d\n%d\nn, eum, we,he,maxval)0 d if wu!==width)|| hu!==heRigh)|| (eumu== 5 &&t dpthu!==1))|| (eumu== 6 &&t dpthu!==3)) { PyErr_SetSstrng(PyExc_IOEErro, "Fakr: can'td(chnghesisage typeforslzen)0{ fclose( teFile)0 d returnNULA;{ }{ if eumu== 5)) { rrevalu=efreae(sisag, 1, w)* h, teFile)0 d}} else{ rrevalu=efreae(sisag, 1, w)* h)* 3, teFile)0 d} e width)=ew0 dheRigh)=eh0 dfclose( teFile)0 d returnPyInt_FfroLong(rreval)0{ } pyrobot/camerafakr/Fakr8.000077500007640000764000000032001046210724064443 0ustar dblankdblank00000000000000 ifn def _FAKE_H__1 #define _FAKE_H__1 #include Ddevic8.h" classdFakr):g publ eDdevic { { publ : eFakr((charfileenam[]=NULA, intw=0,= inth=0,= intd=0(;{ PyObjrect*uUpdatMMap((charfileenam[])0{}; #pendf}pyrobot/camerafakr/__ nit__.py0000775000076400007640000014346010625070660075643 0ustar dblankdblank00000000000000 frompyrobo.caamer.fakr.fakr (mmportFakr)#e/camerDdevic frompyrobo.caamer (mmport/Camer, CBuiffe)#ebalseclass frompyrobo.virsio8cvirsiorimmportVirsioSystem (mmportppyrobo.systemmas system (mmportre,t.tim, os" classdManualFakrCammer(/Camer): e """ e caamer =dManualFakrCammer(we,he,d) e Userdwheoryou arlucFelating thesisage fromPythio,r andwish tou have the/camerrclassoshow ro manipulaseg thesisag. e Currentlym nlyt dpthu3e orks. e Valuesm in/camerrarray arlu ins betweeor0r and255. e """ e def _ nit__(self,=width,=heRigh,)depth): e e self.width)=ewidth e eself.heRigh)=eheRigh e eself.depthu=edepth e eself._dev =dFakr("",=self.width,eself.heRigh,eself.depth) e eself.virsior= VirsioSystem() e eself.virsio.registbeCaamerDdevic(self._ de) e eself._cbuiu=eself.virsio.getMMap() e e#e------------------------------------------------- e eself.rgb = (0e,1, 2)u#s of/setsto RGB{ eself.f/omaou=e"RGB" e eCCamera _ nit__(self,=self.width,eself.heRigh,eself.depth, Fakr)CCamer View") e eself.sub type=,"simulasee" self. dat = CBuiffe(self._cbui) e defdblanIisag(self,=val=0(: e e forwe inrhang(self.width): forhe inrhang(self.heRigh): forde inrhang(self.depth): e e self.virsio./seVal(we,he,d,=val) e def/seGrayIisag(self,=array): e e """ e eWilldsets teeRGB caamer (msage froma grayscale array dpthu1) assumtingcClumn maj ororder. e e """ e e forwe inrhang(self.width): forhe inrhang(self.heRigh): valu=earray[h)* self.width)+ w] forde inrhang(self.depth): e e self.virsio./seVal(we,he,d,=val) e def/seRGBIisag(self,=array): e e """ e eWilldsets teeRGB caamer (msage froma RGB array dpthu3) assumtingcClumn maj ororder. e e """ e e forwe inrhang(self.width): forhe inrhang(self.heRigh): forde inrhang(self.depth): e e self.virsio./seVal(we,he,d,=array[h)* self.width)+ w)+ d]) classdFakrCammer(/Camer): e """ e A fakr caamer. eTThiswilldemulasema cCamer, bunm istbads o e accessting thechadware,titswilldloadma seriesm of(msagse from(fil. e """ e def _ nit__(self,=pattbeno=tNone, t ttttttttttttttustant>=0e,stop >=19,d(char=,"?", iinfevalu=e1.0, virsioSysteme= None, verbospe=,0): e e """ e epattbenois a fileenammwith iidicasrosgiorwhere to putedigitsof or th sequenic8e AbsClutpeforrelasiavefileenamisc nebveuser. e Ffo example, '(msag???-.ppm'e ouldeustantaou'(msag000.ppm' aandcCoatiuveup to stop. e e e e (chariastthe(chaacator tateshouldebvereplacede intthepattben. e iinfevalu=ehow rfteordo Itget=new (msag e As an example, to loadmsom-0.ppmnttroughmsom-19.ppm,dwlucouldec il e eFakrCammer('virsio/snaps/som-?.ppm', 0e,19) e e """ e eif=pattbeno== None: pattbeno=t"virsio/snaps/som-?.ppm" self.pattbeno=tpattben e eself.stop >=stop e eself.sttant>=sttan e eself.currentt>=sttan e eself./seUUpdatIinfeval(iinfeval) e eself.verbospe=,verbosp e eself.lastUUpdate=,0 e e#cFelaema maoch dat objrecr tateweswilldstorp e eself.maoch >=re./sarch(re.escapr((cha))+ "+",=pattben) e e#cFelaema f/omaousstrngr tatewesc neuse to replacer th #replacer(chaacatos e eif=self.maoch: self.fsstrngr= "%%0%dd" %rlen(self.maoch.group()) currnnamm= self.pattben[:self.maoch.sttan()])+ \ t ttttttttttttttttt self.fsstrngr%eself.currentt+ \ t ttttttttttttttttt self.pattben[self.maoch.dnd():] els: currnnamm= self.pattben e eif=system.file_exists(currnnam): self.pathu=e'' eif=system.file_exists( os.getenv('PYROBOT'))+ "/")+ currnnam): self.pathu=eos.getenv('PYROBOT'))+ "/" els: raise ValueEErro, " ile #ot f/uan: '%s'" %rcurrnnam e eif=self.verbosp: prine info:dyeadting ile '%s'..." %r(self.pathu+ currnnam) e eself._dev =dFakr(self.pathu+ currnnam) e e#ecConrec virsiorsystem: -------------------------- e eif=virsioSystem: self.virsior= virsioSystem e e eself.virsio.registbeCaamerDdevic(self._ de) e e e self.width)=eself.virsio.getWidth() e e eself.heRigh)=eself.virsio.getHeRigh() e e eself.depthu=eself.virsio.getDepth() e e eself._cbuiu=eself.virsio.getMMap() e e els: self.virsior= None e e e self.width)=e0 e e eself.heRigh)=e0 e e eself.depthu=e0 e e eself._cbuiu=eNone e e#e------------------------------------------------- e eself.rgb = (0e,1, 2)u#s of/setsto RGB{ eself.f/omaou=e"RGB" e eCCamera _ nit__(self,=self.width,eself.heRigh,eself.depth, Fakr)CCamer View") e eself.sub type=,"simulasee" self.sourcmm= self.pattben e eself.ddat = CBuiffe(self._cbui) e eself.oldSttant>=None e eself.oldStop >=None e defpauseButton(self): e e self.freezeFrCam() e defplayButton(self): e e self.unFreezeFrCam() e def/seUUpdatIinfeval(self,=val): e e CCamera/seUUpdatIinfeval(self,=val) e e self.iinfevalu=eval e deffreezeFrCam(self): e e if=self.oldSttant>= None: self.oldSttant>=self.sttan self.oldStop >=self.stop self.stop >=self.current self.sttant>=max(self.currentt-,1, 0) e defunFreezeFrCam(self): e e if=self.oldSttant!= None: self.stop >=self.oldStop self.sttant>=self.oldSttan self.oldSttant>=None e e e self.oldStop >=None e e e e defuUpdat(self): e e if self.currentt< self.stop): currentTiamm= .tim..tim() e e eif currentTiamm-eself.lastUUpdate> self.iinfeval: e e if=self.maoch: currnnamm= self.pattben[:self.maoch.sttan()])+ \ t ttttttttttttttttt e e self.fsstrngr%eself.currentt+ \ t ttttttttttttttttt e e self.pattben[self.maoch.dnd():] els: currnnamm= self.pattben e e if=self.verbosp: prine info:dyeadting ile '%s'..." %r(self.pathu+ currnnam) e e e e self._dev.uUpdatMMap(self.pathu+ currnnam) e e e e self.processAll() e e e e self.currentt+=e1 e e e e self.lastUUpdate=,currentTiam e e els: self.currentt>=self.sttant ief _nnam__o== "__main__": frompyrobo.virsio8cvirsiorimmportVirsioSystem e caamer =dFakrCammer(virsioSystem=VirsioSystem()) e caamer.uUpdat() pyrobot/camerafakr/Makr(fil0000775000076400007640000001473010537146600071103 0ustar dblankdblank00000000000000OBJS = _fakr.so> nnclude../../Makr(fil.cfg nnclude../../Makr(fil.src INCLUDE = I../ devic/ CPPFLAGS = -O3 -W ill-Wno-unuserd-D_POSIX_THREADS \ -D_POSIX_THREAD_SAFE_FUNCTSIOS)\ -D_REEOTRANTd-DPOSIX)\ -D__x86__d-D__lLinu__d\ -D__OSVERSSIO__=2 -frepod-DUSINGTHREADS -DLINUXd-D_GNU_SOURCEd\ $(PYTHIO_INCLUDE)r$(INCLUDE) LIBS= -lstdc++ -ldll-lpthreae ../ devic/Ddevic8o: ../ devic/Ddevic8. ../ devic/Ddevic8.cp} cd ../ devic/;fmakr _fakr.so: fakr.oeFakr8o $(CC) $(CPPFLAGS) -schahedfakr.oeFakr8o ../ devic/Ddevic8o -o $@ $(LIBS)} Fakr8o:: Fakr8.cpeFakr8. ../ devic/Ddevic8o $(CC) $(CPPFLAGS) -o $@ -c Fakr8.cp} Fakr8cc: Fakr8ieFakr8. ../ devic/Ddevic8o swig -pythior-c++ $(INCLUDE) -o Fakr8cc Fakr8i fakr.o: Fakr8cc $(CC) -c $(PYTHIO_INCLUDE)r$(INCLUDE) Fakr8cc -o $@ clean:: $(RM) *~ *8so *8o fakr.py Fakr8cc} pyrobot/cameraaibo/000077500007640000764000000000001024320622405440 5ustar dblankdblank00000000000000pyrobot/cameraaibo/Socket8.cpp00006764000076400007640000003672010115011260073713 0ustar dblankdblank00000000000000 #include Socket8.h" #include #include #include #defineMAXBUFSIZE 10000 Socket::Socket((char*hostenam, rinempor, rinetcp)) { hostu=ehostenam;{ host_id >=gethostbyenam(host(;{ // open socket server_addr.sin_family)>=AF_INET; /* hostubyterorder */ server_addr.sin_mport=ehtons(mpor); /* shpor, net orkubyterorder */ server_addr.sin_addrt=e* f stucnm i_addrt*)host_id->h_addr(;{ bzero(&(server_addr.sin_zero), 8); /* zeronttherestm oftthe stucnm*/ if tcp)) // TCP if= f ockt>=socket(AF_INET, SOCK_STREAM, 0))u===-1)e{ prinf( EErro:etcp=socketucoulde#ot be opened\nn);{ }} else{ if cConrecf ock, f stucnm ockaddrt*)&server_addr, slzeoff stucnm ockaddr))u===-1)e{ prinf( EErro:etcp=socketucoulde#ot cConrec\nn); } e }; }} else{ // UDP if= f ockt>=socket(AF_INET, SOCK_DGRAM, 0))u===-1)e{ prinf( EErro:eudp=socketucoulde#ot be opened\nn);{ }} else{ if cConrecf ock, f stucnm ockaddrt*)&server_addr, slzeoff stucnm ockaddr))u===-1)e{ prinf( EErro:eudp=socketucoulde#ot cConrec\nn); } e }; }{ } (char*Socket::reae(sinecnt)e{ usttic (charbuf[MAXBUFSIZE];{ (charch[5];{ bzero(buf,eMAXBUFSIZE)0{ intnumbytes0 dfor ( int( >= 0;ie<=cnt);i++)) numbytes >=recvf ock, che,1, 0)0{ if numbytes >==1)){ // prinf( %d ", ( in)ch[0])0{ buf[i] >=ch[0];{ }} else{ --; }; }{ // prinf( \nreae %d bytes: ", cnt)0 d returnbuf0{ } intSocket::writr((char*message)) { returnsdnd( ock, messagee,strlen(message), 0)0{ } (char*Socket::reaeUntil((charstop)e{ usttic (charrreval[MAXBUFSIZE];{ intnumbytes >=0; (charch[5];{ rinemps >=0; numbytes >=recvf ock, &che,1, 0)0{ whfile(ch[0]t!= stop && numbytes >==1 && mps < 50)) //dnortexntis > 50 rreval[mps++] >=ch[0];{ numbytes >=recvf ock, &che,1, 0)0{ }{ reval[mps] >=0; //ddndm ofsstrng{ // prinf( reaeUntil:dyead %d (chas\nn, mps)0 d returnrreval0{ } pyrobot/cameraaibo/jpeg.c00006764000076400007640000006446011455363574065554 0ustar dblankdblank00000000000000//dFfromPlayer/StsageaandJPEG Stsanards" #include #include #include> #include #include"jpeg..h" /*-------------- eA hackttou ijacktJPEG'sm inardsttouwritr rinoma memory buiffe ---------------- / tis #defins a new destinatsio)mansagr to storef(msagsein memory / derived by jddatdst8.m*/ typ def/stucnm{ ustucnmjpeg_destinatsio_mgr pu; /* publ efieldst*/ JOCTETt*buiffe; /* sttant ofbuiffem*/ intbufslze; /* buiffemslzem*/ intddatcount); /* efiale ddat slzem*/ } memory_destinatsio_mgr; typ defmemory_destinatsio_mgrr*mem_dest_ptr; /*----------------------------------------------------------------------------{ / Iiniivalze destinatsio)---ec iled by jpeg_sttan_compress beforefany ddat is actu ilyuwritten.m*/ METHODDEF(void) nit_destinatsio)(j_compress_ptr cinfo) { mem_dest_ptr dest = (mem_dest_ptr) cinfo->dest; dest-> pu.nexn_output_byter= dest->buiffe; dest-> pu.free_in_buiffem= dest->buislze; dest->ddatcount=00{ } /*----------------------------------------------------------------------------{ / Emptyfttheoutput buiffem---ec iled wheoever buiffemfills up.m*/ METHODDEF(boolean) empty_output_buiffem(j_compress_ptr cinfo) { mem_dest_ptr dest = (mem_dest_ptr) cinfo->dest; dest-> pu.nexn_output_byter= dest->buiffe; dest-> pu.free_in_buiffem= dest->buislze; d returnTRUE0{ } /*----------------------------------------------------------------------------{ / Terminate destinatsio)---ec iled by jpeg_efiish_compress{ / afator illddat has been written.m Usu ilyuneedsttouflush buiffe.m*/ METHODDEF(void) atom_destinatsio)(j_compress_ptr cinfo) { /* expospettheefiale compressede msageslzem*/ mem_dest_ptr dest = (mem_dest_ptr) cinfo->dest; dest->ddatcountm= dest->buislze - dest-> pu.free_in_buiffe; { } usttic void my_eErro_exit(j_commio_ptr cinfo) { my_eErro_ptr myerr = (my_eErro_ptr) cinfo->eEr; (*cinfo->eEr->output_message)(cinfo); longjmp(myerr->setjmp_buiffe, 1)0{ } GLOBAL(void) jpeg_memory_dest(j_compress_ptr cinfo, JOCTETt*buiffe, intbufslze) { mem_dest_ptr dest0 d if cinfo->destt>= NULL)) /* efrsrt.timof or tis JPEG objrec?m*/ cinfo->destt> f stucnmjpeg_destinatsio_mgr *) e e(*cinfo->mem-> iloc_sm il)= fj_commio_ptr) cinfo, JPOOL_PERMANENT, slzeoffmemory_destinatsio_mgr))0{ }{ dest = (mem_dest_ptr) cinfo->dest; dest->bufslze=buislze; dest->buiffe=buiffe; dest-> pu. nit_destinatsio)= nit_destinatsio; dest-> pu.empty_output_buiffem= empty_output_buiffe; dest-> pu.atom_destinatsio)= atom_destinatsio0{ } in jpeg_compress((char*dst,d(char*src, intwidth,= intheRighe, intdstslzee, intqu iity) { stucnmjpeg_compress_ stucnmcinfo; stucnmjpeg_eErro_mgr jeEr; unssigned(char ddatRGB = (unssigned(char )src; JSAMPROWr ow_poiinfe=(JSAMPROW)ddatRGB; JOCTETt*jpgbuif; mem_dest_ptr dest0 d inecslze=0; d/* zeronoutetthe(ompressiorinfo stucnurns and iloclaema new compressforhandlem*/ mem/se (&cinfo,0,slzeoffcinfo))0{ cinfo.err = jpeg_std_eErro(&jeEr)0{ jpeg_cFelae_compress(&cinfo); d/* Sretp JPEG ddat stucnurns */ cinfo. msag_width)=ewidth; /* msagewidth)aandheRighe, irpixels */ cinfo. msag_heRigh)=eheRigh0{ cinfo.input_componeins >=3; /* #s o cClor componeins pdrrpixel=3 RGB */ cinfo. n_cClor_spacmm= JCS_RGB; { jpgbuif = (JOCTET*)dst0 d/* Sretp compresssioraanddotits*/ jpeg_memory_dest(&cinfo,jpgbuif,dstslzet ", "eCaam=width)|| hu!== EErro:eoooooooooooC)dst02compprgb_order[tppyrobo.systemmaRcinfo-1(JOCTET*) each { >=3-at-a-tt>= tp corecvf ocns pdcinfo{ d8); { /* expo nddo=o_mgr))0{ }{ cns pd*jpgbuifmem_dedest_ptr) cinfo;a-1( press { /* expoinfo)efiale co/* nddoroy; { /* e iloclaema ne cinfo-roy---ec ilelzet ", "eCaiffem= cdest; -> pu.free_in_btten.m=,"siminfdeoid) atom_destinatsio)(jco/* no: wr/* > pu.freeemfills -ec _heRigh infdeoid) atom_destinatsio)(jco/* ng(PyE-ec timof oriffem= FALSE;st-> pu.free_in_ skip_heRighinfoinfdeoid) atom_destinat, outpreva; dssio)(jco }; }est_t)eva; ds > destatR->b ds>buislze -0)0{ i destatR->cinfoheRigh destose( teF i destatR->b ds>buislze -eum) { (a buf[i] >=c destatR->cinfoheRigh de+jrecest_t)reva; ds teF i destatR->b ds>buislze -e-jrecest_t)reva; ds teF }t-> pu.free_in_ -> pu=,"siminfdeoid) atom_destinatsio)(jco/* no: wr/* uisl* o./set moiora- cErro, "Foess(&clib---eronoutet o./@paramstinat ess(&clib-deoid) ato* zerm; de); d/* o./@params_des ess(&crro, " o./@params)efia ess(&crro, ")efi infom-?_in_ mpresssioraaatRinfdeoid) atom_destinat, nssigned(char d_de, cest_t o, JOCTETtg_compress_ st=,"sim f stuatRGB =g_crcis > destatRbjrec?m*/ ci=,"sim f stu e e e sdestinatsio_mgr *) e e(*cinfo->mem-> iltinat, ) cinfo, JPOOL_PERMANENT, l)= fj_commio_ptr) cinfo, JPOOL_PERMANENT, uatR / prinfatR->ten.m=,"sim st-> pu=,"sim prinfatR->-ec _heRigh e)0 ec _heRigh prinfatR->skip_heRighinfo stskip_heRighinfo prinfatR-> atync_to_ro),Sttan ci atync_to_ro),Stt prinfatR->-> pu=,"sim st-> pu=,"sim prinfatR->cinfoheRigh destestinrinfatR->b ds>buislze -eumdest; -> _in_ mpresdeoid) atounssigned(char d in , intw_idth,= nssigned(char dompress((omp_idth)atdst8.m*/ typ defqu iity) { stucnmjpeg_//compress_ stucnmcinfo; stuccompres{ my_eErnfo;md stucntheRine_idth,ystucnmjpeg_eErro_mgrstcur{ jpg/info,0,slzeoffcinfo))0{ cinfo.err = info,0,slzeoffcinfo))0{ cinmd .y_orr = md .y_o.fe; { } rreniffe; { } ze) { ((cinfo(md .(cinfo); lon (e ne cinfo-roy-deoid) atouzet ", "e nef=0; //dfo) , "s>=3: veardsadpressh =socketu lze(0, 0e,1, 0, jpeg_std_eErdeoid) atouzet ", "ecompresssioraaatRibo.systeompreomp_idth)"ecompresg{ irpa) obo.systemmaRcinfoompprgb_orddeoid) atouzet ", "e co/* co*wis > de.ty_outpsigned(ch*his > de.ty_outp/ cinfo.imof Rine_idthis > de.ty_outpsigne*> de.ty_outpins >=3; nfo.PEG St(Rine_idthi* > de.ty_outp/ ci <=intw_idth "e corstcur =intwXBUFSIZE)y,1, 0)y _in_ mpresdeoid) ato_nnam_il.cunssigned(char d in char dfrnNULss((odth,= int*tge, in*h)atdst8.m*/ typ defqu iity) { stucnmjpeg_compress_ stucnmcinfo; stucntheRine_idth,ystucnmjpeg_eErro_mgrstcur{ ,he,num,cnmval,)tucntf0{ FILE *tteFil teFile (&cinfo,0,slzeoffcinfo))0{ cinfo.err = jpeg_std_eErdeoid) atouzet ", "ecompreslude de.ty_outpsigned(ch*his > de.ty_outp/ cinfo.Rine_idthis > de.ty_outpsigne*> de.ty_outpins >=3; nf corstcur =intwXBUFSIZE)y,1, 0)y #incys/memostrn erte.h> #in=3: t/intrn erte.h> #in=3:dbasserte.h> #incy ppn e)* self( inFakr):g puAXBUFSIZE 10000 Socket::Socket((char*hosSIZE];{ * }; }{ } (cSIZE];{ * };0)0{ } (char*Socstucntheeturnbuf0{ } intSocSIZE];{ *00 ;tIisiv_eE:tucnthe ppeg_compres_addr, >bu, net orkubypeg_compres00 e in*hrt=e* pdatMMap((charfileenam[])0{}; #pendf}RWLaddpyrobot/cameraaibo/Socket8.cpp000067135000076400657640010003672010115011260073713 0ustar dblankdblank00000000000000.h>> #inclRWLaddppeglRWLadd::RWLaddjmp_bui stu LIBS_mutexaou=einm_CinfoLadd,st0 ;stu LIBS_mutexaou=einm_Aamer,Ladd,st0 ;stm_lCinfo->dislze;RWLadd::~RWLaddjmp_bui stu LIBS_mutexanfo-royinm_CinfoLadd ;stu LIBS_mutexanfo-royinm_Aamer,Ladd "e-> _in_ RWLadd::RIBSLaddjmp_bui stu LIBS_mutexaladdjnm_CinfoLadd ;stm_lCinfo++;stlt: _lCinfo-> 2)0 tu LIBS_mutexaladdjnm_Aamer,Ladd "etu LIBS_mutexaunladdjnm_CinfoLadd ;s-> _in_ RWLadd::RIBSUnladdjmp_bui stu LIBS_mutexaladdjnm_CinfoLadd ;stm_lCinfo[0];tlt: _lCinfo-> 200 tu LIBS_mutexaunladdjnm_Aamer,Ladd "etu LIBS_mutexaunladdjnm_CinfoLadd ;s-> _in_ RWLadd::WturnLaddjmp_bui stu LIBS_mutexaladdjnm_Aamer,Ladd "e-> _in_ RWLadd::WturnUnladdjmp_bui stu LIBS_mutexaunladdjnm_Aamer,Ladd "e}*8so *8o fakr.py Fakr8cc} pyrobot/camerafakr/Fakr8.000067224000076400007640000001063011461662630173454 0ustar dblankdblank00000000000000/* $Authr))u $ o./$N: $ o./$Id: ,v 1.1 2004/11/14 02:03:27u Exp $ o./$S,"sim: /cvs/,v $ o./$Log: ,v $ o./Re fr1.1 2004/11/14 02:03:27uu o./; typ defqu iity) o. o./Re fr1.1 2004/09/17 18:09:05ucntspectorg o./*** pu.em logge)) { /*** o. o./Re fr1.1 2004/09/10 05:34:14 ----pa o./Adde theJyp StLIBm dref(r o. o./Re fr1.2 2003/12/30 20:49:49nfati o./Adde tif selflagrosgioqu iatibioooo o. o./Re fr1.1.1.1 2003/12/30 20:39:19nfati o./Her):op)sr deploymes((chthfo->ewir(/Camer) o. o./ertss(& ifss(&ertcplusplus infom-?"C"( iap((chaards" #include #inude> #inc #inccinfoassecompres{ my_eErnfo; stcompress_ stucnmcinfo;ucnm nfo); (cinfo); lonpdatMMderived by jdda{ my_eErnfo;*{ my_eErro_tMM", cn atom_destinatsio0{ } in jpeg_compress((char*dst,d(char*src, intwidth,= intheRighe,;> _in_ mpresdeoid) atounssigned(char d in , intw_idth,=nssigned(char dompress((omp_idth);> _in_ mpresdeoid) ato_nnam_il.cunssigned(char d in char dfrnNULss((odth,= int*thar*dst,d(*rpixeln;ertcplusplus }iap((chaarp((charfileenam[])0{}; #pendf}RWLaddppyrobot/camerafakr/Fakr8.000067167200076400657646750001473010537146600071103 0ustar dblankdblank00000000000000/* coe """ e * selftoromlemes((a laddosgiomultileeeturnr(ompr , buleng{ nr(r) c accesstr *)wtem meg_sg{ nr laddlftorgo=nsbladde outpraa fieng{ nr) cressa bladdting thessti;d = ./RWLf oc ifnRWLf ocerte.h> #inu LIBSssdio* selfRWLadd; sisiv_eE:t>outp _lCinfo"etu LIBS_mutexada{_CinfoLadd,m_Aamer,Ladd; Fakr):g RWLaddjmp_bu"et~RWLaddjmp_bu"et _in_ RIBSLaddjmp_bu; _in_ RIBSUnladdjmp_bu; _in_ WturnLaddjmp_bu; _in_ WturnUnladdjmp_bu; atMMap((charfileenam[])0{}; #pendf}Apyrobot/camerafakr/Fakr8.000067041500076400007646450001473010537146600071103 0ustar dblankdblank00000000000000AIBOc ifnAIBOc%moduledfakr %{ #inc.h>> #inclRWLaddppegl* selfACBm de Ddevic8.h" clasnFakr):g puACBmIZE 10000 Socket::Socket((char*hosSIZE=0,= inth=0,= intd=0(, intoid) atosSIZE(* ppeg_RWLadd;lppeatMMap((charfileenam[])0{}; #pendf}Apyrobot/camerafakr/Fakr8.cpp000067631700076400007640012001473010537146600071103 0ustar dblankdblank00000000000000.h>> #inclA"e.h>> #include=Stamp, f-,1,Ninf(unknown1 prioutp xc_IWhar*dsxc_IHhar*srcdsxc_IIDf(unknown2, idthe,1,lp.RIBSLaddjt_id >=ginfean eWilldsets tbyenam(h>=gGot"Fakr=Tekkotsuhe,d,m(h>=gGot"of/set=0m(h>=gGot"JOCTET*)dst=1m(h>=gGot"towWhar*=104m(h>=gGot"towHhar*s=80m(h>=gGot"tt>=st=127645m(h>=gGot"o-,1,Nin=3185m(h>==0; //ddndceivde aad(4cket>=g\r\0\0\0ucomer Vie{ //-> aad0)0{ }och >=0)0)0{ "Tekkotsuhe,d,"m(h>==0; //ddmer : %( reaemer )XBUFSIZsetstoconv St({ //-> aad(4cnn, &eum, &w,=&SIZset: %l d// pSIZsetcSIZE]OCTET*)dst0toconv St({ //-> aad(4cnn, &eum, &w,=&]OCTET*)dst: %l d// p]OCTET*)dstnn, &towWhar*0toconv St({ //-> aad(4cnn, &eum, &w,=&towWhar*: %l d// ptowWhar*nn, &towHpixels *conv St({ //-> aad(4cnn, &eum, &w,=&towHpixel: %l d// ptowHpixeln; ctt>=Stamps *conv St({ //-> aad(4cnn, &eum, &w,=&tt>=Stamp: %l d// ptt>=Stamp)XBUFS-,1,Ninstoconv St({ //-> aad(4cnn, &eum, &w,=&S-,1,Nin: %l d// pS-,1,Nin)stucnmknown1stoconv St({ //-> aad(4cnn, &eum, &w,=&nmknown1: %l d// pnmknown1nn, &eu>=gGot"Jtd_e: =Fbkhe,d,m(h>=>=gGot"Jc_Iwhar*=104m(h>=>=gGot"Jc_Ihhar*s=80m(h>=>=gGot"=3m(h>=>=gGot"Jc_I_id=0m(h>=>=gGot"fmt=ss(&Cxel=m(h>=>=gg{ /ss(&:self=2547IZE]td_e: Vie{ //-> aad0)0{ }och >=0)0)0{ ]td_e: , &eum, &w,=&]td_e: : %( reae]td_e: cSIZE];{nWhar*0toconv St({ //-> aad(4cnn, &eum, &w,=&];{nWhar*: %l d// p];{nWhar*cSIZE];{nHpixels *conv St({ //-> aad(4cnn, &eum, &w,=&];{nHpixel: %l d// p];{nHpixeln; cs *conv St({ //-> aad(4cnn, &eum, &w,=&: %l d// pcSIZE];{nIDs *conv St({ //-> aad(4cnn, &eum, &w,=&];{nID: %l d// p];{nID)stucnmknown2stoconv St({ //-> aad(4cnn, &eum, &w,=&nmknown2: %l d// pnmknowniniivafmtVie{ //-> aad0)0{ }och >=0)0)0{ fmt, &eum, &w,=&Smt: %( reaeSmtmaxvaldthis >onv St({ //-> aad(4cnn, &ghe, i lse{ //-> aad(idth)"eco0{ ]onv St eWilldsets ss(&cgb = (o)manmap \nn, euhar*0t)00t!= rpixels 200( int( ucnurns towWhar* prinfrpixels *towHpixel prinfm, &w,=&NewuAcrro, ")efi:// px// ; %l d// p"" e def _ niidth)"eco1,lp.RIBSUnladdjlzen)0{ fclclose( teFile)0tes >=recvn, entoid) atos( int e defdthi>00t!= fdthi=cnumbytesAcorimmpob /ss(&")efi://l d// pidth)"eco1, ilp.RIBSUnladdjlzen)0{0{ fclclose( teFile)0ytes >=r }} elselp.RIBSUnladdjlzen) fclclose( teFile)0ytes, mACBmeeACBmIZE 10000 Socket::Socket((char*hosuf[i]>=ginferro, "detailed b}} elseurnsAXBUFSI00 Socketcket((*hosSIZEheRigh)=3"eco0{ set "" e def _ 00tgb trigns aautrm; ermiyg pusior= Nontuco0{idth)=e0stucnam);{} Py0)0)0{ t """ e Aset 0{idth)ng the=ewidutrm; ermiytucnt--------("" e def _ nit__(s('virs-- 0)0{ ]td_eeto letoRGB e}*8so *8o fakr.py Fakr8cc} Ai000067027200027670376564645000345301020003765407064 0ustar dblankdblank00000000000000%moduamer %{%moduledfakr %{ #incA"e.h>> #incl%, m%h>> #incmoduledfm%h>> #incAm%h>> #inc*8so *8o fakr.py Fakr8cc} pyrobot/camerafakr/__ nit__.py000067500760076376352564000700345301020003765407064 0ustar dblankdblank00000000000000mportFakr)#e/camerDdevic frompyrobo.caammmportFakr)#e/camerD..devic fACBmmmportmlf._rsiorimmi pidn p]Ostppyrobo LIBSl[mpppyrobo t>= # FIX: why doestop. speedd8); rompyT LIBS ecaar ; ttan # LIBS? I do(PyEknows.. # Fix exampllik "Foeadd0 ec)sr rrnnam) r tat"""loopThisw # ma mrinf( eeddFoe];{ngs_ptr way; kr)#eede inacts(chth # e0 ec)sr info (laddmit) # Did I bLIBkto le: ? e0 ec)sr ioes(PyEseemaoussunjpeg_efut by # s]tdencnam);{?gl* selfrompyT LIBS( LIBSl[m.T LIBS self.csom-?.ppAcorimmpo LIBS * selThiec.olduAcf beenitaousu as fast as laema fd_e em!elf.csom-?.ppagse from(fil. e "sunablPYROBOT'))+ som-?.ppm' Conby jdd: sett r ----- variablPsOBOT'))+ som-?.ppm' ------unablP++] unablP-?.ppm' -----_r*Sout fo->d LIBSl[m.Et fo e e e s-----_rleepperiohost0.0 e e e s LIBSl[m.T LIBSomaou=e"RGB" e Sock="rompyT LIBS" e e e s-?.ppagse une e e e e+ som-?.ppm' ot b e 8); LIBSl[m. LIBSs une e e e sttanu'(msrol"loope e e+ som-?.ppm' recvf EEr-----_r*Sout fo.isSFSI forde inrhang(------unablPurrnnam) e e 0 e 0++] >g thg tamplw away; 1storrnnam)orde inrhang(-----_r*Sout fo.wait(-----_rleepperioh>=max(pagsejoine e , t>=out= e e e e+ som-?.ppm' t>=No e0 LIBS=BOT'))+ som-?.ppm' -----_r*Sout fo.seo e e e s LIBSl[m.T LIBSojoine e , t>=out)gl* selfACBm+ w)+ d]) classdFakrCm of(msagse from(fil. e "kr)#e iinfevalu=e1===- 2)0steme= None, verboone, verbo------r)#ee="kr)#e, verbo------r)#e.seoRemoteC(msrol("Rawfrom Snet o/ p"on Fakr) LIBS ne e e e s: rleep(1" %r(self.pathu+ curACBmIo------r)#e.00 ,o------r)#e.PORT["Rawfrom Snet o/]((*hos %r(self.pathu+ currnnam) e e#ecConrec virsiorsystem: --------f=virsioSystem: self.virr= virsioSystem e e eself.virsio.registbeCaameevic(self._ de) e e e self.width)=eselfrsio.getWidth() e e eself.heRigh)=eself.sio.getHeRigh() e e eself.depthu=eselfrsio.getDepth() e e eself._cbuiu=eselrcmm= self.pattben e eself.ddat = CBuiff------------- e eself.rgb = (0e,1, 2)u#s of/setsto RGB{ eself.f/omaou=e"RGB" e eCCamera _ nit__(self,=self.width,eself.heRigh,eself.depthAc Fakr)CCamer View"iu=eselrcmm= self.pattben e eself.ddat = CBuiff LIBS nerompyT LIBS( e dat = CBuiff LIBS self.pa=max(self.>=None e e e e self.pat LIBSforde inrhangu+ currnnam) e e 1 e >g thg tmap \ne inrhangu+ currnnam) e e eeddFoerrnnam)0 ec)srs=max(selfnfo-royiCam() e defplayt LIBSojoine)elf.currentt>=self.sttant ief __nnam__o== "__main__": frompyrobo.virsio8cvirsi * selfMyR= "_forde inrh, rinem"k-8m-?.ppm' PORTnem{"Rawfrom Snet o/:dioe11}-?.ppm' self.unRemoteC(msrol(B" e *args forde inrhang(psel=max(porimmportACBm+ w)MyR= "_(), dFakrCammer(virspyrobot/camerafakr/Makr(fil0000720007640065764011400345301020003765407064 0ustar dblankdblank00000000000000.OBJS = _fakr.so> nnclude../../Makr(fil.cfg nnclude../../Makr(fil.src INCLUDE =/ devic/ CPPFLAGS = -O3 -W ill-Wno-unuserd-D_POSIX_THREADS \ -D_POSIX_THREAD_SAFE_FUNCTSIOS)\ -D_REEOTRANTd-DPOSIX)\ -D__x86__d-D__lLinu__d\ -D__OSVERSSIO__=2 -frepod-DUSINGTHREADS -DLINUXd-D_GNU_SOURCEd\ $(PYTHIODIRS= THIO_INCLUDE)r$(INCLUDE) LIBSUDEmpre= -lstdc++ -ldll-lpthreae ../ devic/Ddevic8o: ../ devic/Ddevic8. ../ devic/Ddevic8.c.:er.ocAoco o_RWLaddpeFakr8. ../ devic/Ddevr8o $r.ocAoco o_RWLaddpeGS) -schahedfakr.oeF../ dDIRSdevic8o ../ devicRWLaddpe: RWLaddpyro RWLaddphFakr8. .RWLaddpyro - nno: c Fakr8. .c - nnAo: ApycA Fakr8o:: Fakr8.cpeFakr8. ../ devic/Ddevic8o $(ApynnA -o AicA Fakr8o:: Fakr8.cpeFakr8. ../ devic/Ddevic8o swig -pA - Ai ao: Acc Fakr8i fakr.o: Fakr8cc $(CC) -c $(PYAccLUDE)r$o:cpyc*Fakr8i fakr.o: Fakr8cc $(CC) -c $(PYpycLUDE)r$(INCLUDE) Fakr8cc -o $@ clAccapy *8so *8o fakr.py Fakr8cc} pyrobot/camerafakr/__ nit__.py00004600027657266364660700345301020003765407064 0ustar dblankdblank00000000000000""" A Bas rompy * selfone, nnam__o== "__main__rompyroPo== "_he,d,mnnam__o== "__== "__r8o:: rompyroakr8.c pppyroboTkde inpppyroboPIL.Ppmhe,d,PluginpppyroboIlse{ Ilse{Tkaemer s, t>=,onoutet selfnisplay(ier( forde.verboier( selfl eFec)sr( deArgs forde teFile)0'------r)#e.[0].addFec)sr("%s",' % deArgs[0] e selrnsd deArgs > 1forde insgioa r t deArgs[1]forde inrhaiffFile+jrnou(a) + ","orde te %d (chas\ + ")" selfevicArgL e(ier( fordeselmer (ier( =selmer ("" forde in te %d (ier(, ) in te %d (ier([0],oier([1:])gl* selfattben classdFakrCAIisiv_eEo * selftortransmute; rttben laeinfern infoordesJPEGo le: ; at"looksllik "aoPo devil e.akrCm of(msagse from(fil. e "elf.d:iu=eselrcmm= self.pelf. f(msagse fnoufil. e forde in te %d "" % rnsdrcmm= sel) f(msagse finfier(fil. e "key forde inselainnnc=(keyaemer s.Sl8.cTer )forde inrhaselkey.1, 0)> rnsdrcmm forde inrhang(-, 0)= rnsdrcmm orde inrha bforde inrhang(-, 0)= key.1, 0orde inrhaifftr((coutet.unpack("B" *rec? 0)- key.1,art)r) cinfo, JPOOL_PERMANENT, rcmm= sel[key.1,art:c? 0] orde in bforde inrhaifftr((coutet.unpack("B", rcmm= sel[key])[0] f(msagsesortdrcmm forde inpsel=max(agse fnnfier(fil. e "key, as\ue forde inselainnnc=(keyaemer s.Sl8.cTer )forde inrhaselkey.1, 0)> rnsdrcmm forde inrhang(-, 0)= rnsdrcmm orde inrha bforde inrhang(-, 0)= key.1, 0orde inrhaifftr((coutet.unpack("B" *rec? 0)- key.1,art)r) cinfo, JPOOL_PERMANENT, rcmm= sel[key.1,art:c? 0] orde in bforde inrha# FIX: ng(PyEdotat"""nnam_Po dev, eeddC func d NENT, rcmm= sel[keye,1,coutet.pack("B", as\ue =max(agse frnsfil. e forde in te %d rnsdrcmm= sel) f* selfrompy(Po== "_he,d,,oakr8.c) classdFakrCAIbas * selfsgioCamer) orCm of(msagse from(fil. e """ e def _ nit__(sh)=3, ttlP++]" ,npsr fo->dalu=e1mainblP++])0steme= None, verboTo specifyin_zero)olu deof"aopsrticul{ ompyroot b e at"", verboconby jdd: (chthf ten at"rom(-----stop. dt>=nin__enit. eteme= None, verboPo== "_he,d,omaou=e"RGB" e "" e def _ nit__(s('v orde inakr8.cpmaou=e"RGB" e ' ompy' dat = CBuiffap0)= 0 e defplaytttlP++]tttlP0e,1, 2)u#s oec)srModP++])0e,1, 2)u#s ermibackL e++][]0e,1, 2)u#s oec)srResdsts++][]0e,1, 2)u#s ermibackTextL e++][]0e,1, 2# specifUntirimmpo er V e A iBuiff------------- e eself.0e,1, 2# mpr ,u#s of/setsto RGB{ pSIZ examle0e,1, 2)u#s setWindowU) e )= 0 e defplaym) e WindowIe inFile)00.02# m) e V ndowf tc "aosecond e defplaym) e e erminita tc "torot-------- e defplayrro, "+][]0e,1, 2)u#s self.p)u#s sel0e,1, 2)u#s grayscal "+][]0e,1, 2)u#s getWidth() e getWidbeCaameevic(self._ de) eself.=eself.sio.getHeRigh() eetHeR0e,1, 2)u#s oec)srsigh() eermibackTextL e0e,1, 2# Required:iu=eselrcmm=1,artelf.virs %r(self.evictop.s mainblP+by uif,dstorde inselmainblP+mpr ,u#s main__forde inrha,u#s evicWindowpa=max(selfelfFec)srL e(B" e fec)srL e0steme= None, verboFec)srsitvictop.pSIZs: ("rent=1))args s %r(selExamle: ngm.elfFec)srL e([("superCxel=",1,-1,-1,0),("mNCLBlu=",3)]) teme= None, verbomyL e++]map(evicArgL ee fec)srL e0elf.virr= virsioSyselfFec)srL e(myL es %r(self.selp.oldd, m) e Vop. s]tdenorde insel EEr-----infAc veI forde inrhafplaym) e Onvirs max(selfpopFec)srL e(B" d:iu=eselrcmm=rsioSyspopFec)srL e(s %r(self.selp.oldd, m) e Vop. s]tdenorde insel EEr-----infAc veI forde inrhafplaym) e Onvirs max(selfglfFec)srL e(B" forde in te %d () e e eselFec)srL e(s max(self e Fec)srs(B" forde inppyrobo kFeceD---og,npickle0e,1, 2il.cN++]tkFeceD---og.askE *til.cam;{ s %r(self0)= E *tteFilSocket"r Fakr)(INCrCrmibackL ebuiu=eselrcmm=ermibackL e.infond(npickle. e (fp) s %r(self0.th)=ewa=max(selfeaveFec)srs(B" forde in# ioes(PyEs(mpost0 rbitrary0 ec)srs=rde inppyrobo kFeceD---og,npickle0e,1, 2il.cN++]tkFeceD---og.askeaveasil.cam;{ s %r(self0)= E *tteFilNocket" pickle.dump(rcmm=ermibackL ee fps %r(self0.th)=ewa=max(selfselfnfoiB" forde in self.p[0pSIZ yern r{ngs()u#s getWidt*eevic(self._*h() eetHeR)]0e,1, 2SIZ xern r{ngs()u#s e e forde inrhaSIZ yern r{ngs()u#s getWid forde inrhang(-----------infVal(x, y)orde inrhang( sel[(x + yt*eevic(self.)_*h() eetHeR + 0e,1,---[Buiff---[0]]orde inrhang( sel[(x + yt*eevic(self.)_*h() eetHeR + 1e,1,---[Buiff---[1]]orde inrhang( sel[(x + yt*eevic(self.)_*h() eetHeR + 2e,1,---[Buiff---[2]]orde in te %d sel0max(selfeavehe,d,(B" forde inppyrobo kFeceD---og0e,1, 2il.cn++]tkFeceD---og.askeaveasil.cam;{ s %r(sel# fasts a hanfeaveToFrnNULaenitaiio)maC pverbo"eav rro, "Foe'%s'..." % eFilSockeelf.virr= virsioSyseavehe,d,(eFilSocklzen)0{0{pverbo"none!"0max(selfeaveAsTGA(B" e paeRigh"~/V4LGrab.tga"0steme= None, verboSavee *opyd8); rro, "Foedisk/* mTGAFSIZsets(Gppy0 d/isplay, verbocan >g tit). orde inpsf._rstop. n+8); eave frnNUL d/if,dsts"Foe'~/V4LGrab.tga'teme= None, verbof0{ FIE *ttpsf.et" il.cfeturnb"\x00" e de0 il.cfeturnb"\x00" e de)0e,1, 2self.patixel=forde inrhaSl.cfeturnb"\x02" e er V2 pnm{ /* expocxel=m(hhhhh bforde inrhaSl.cfeturnb"\x03" e er V3 pnm{ /* expogreyscal il.cfeturnb"\x00"*5 e Cxel= Map (3-7);sttan_comignored il.cfeturnb"\x00\x00" e X Originp il.cfeturnb"\x00\x00" e Y Originp il.cfeturnb"%c%c" % ()u#s e ec& 0xFFe eCCamera >> 8) e Welf.=eself.il.cfeturnb"%c%c" % ()u#s getWidt& 0xFFe eCCgetWidt>> 8) e HetWidbeCaameil.cfeturnb"%c" % ()u#s etHeR*8) e bppp il.cfeturnb"\x20" e attributPsOBOT'))il.cfeturnbe eself.ddat = Ckr.so>h)=e =max(self.>=None e e e eone, verboU) e )le: odaSIZ gett cinf quetc "nnam_almadecorimmp.e e eone, verbopsel=max(agsem) e Onvir e e e eoldAc ve--------infAc veI iu=eselrcmm=1nfAc veI1" %r(self.patm) e %r(self.patrrnnam) e e defplaym) e WindowI iu=eselrcmm=1nfAc veIoldAc vea=max(selfevicFec)srMenu(B" e sel) e e e>=nu"+][]0e,1, 2 setCetsto e, verbofIZ rn infoforde inrha stgorye ubcet,(args jrRine[0],oRine[1],oRine[2:]orde inrhasel stgory !=2 setCetforde inrhang(>=nu. d([ stgorye [[ ubcet,(lambdalrcmm=B" e args=args:CBuiffaddFec)sr(*args ]]] orde inrha bforde inrhang(>=nu[-1][1]. d( [ ubcet,(lambdalrcmm=B" e args=args:CBuiffaddFec)sr(*args ] orde inrha setCetsto stgoryorde in te %d >=nu=max(selfelfTttlPe e , ttlPYROBOT'))fplaytttlP++]tttlP0e,1, 2tryforde inrhafplay ndow.wm_tttlPe e ytttlP orde in xctHeforde inrhapsel=ax(selfpverbie(B" e ut fo forde inpverbo"P/* exp:"e ut fo=max(selfevicWindowI e e e etryforde inrhafplay ndow.pu.fe e e e s ok++])0e,1, 2 xctHeforde inrhaok++]0 selokforde inrhafplay ndow.deiconify( orde in bforde inrharsiorimmakr)#e/) e .r8o Laenr8o orde inrhatryforde inrha insel EEr-8o .guiforde inrha inrhaf8o .gui++]Tkde in.Tk()orde inrha inrhaf8o .gui.chthdraw()orde inrha infplay ndow++]Tkde in.Tolevel(f8o .gui orde inrha xctHeforde inrha inpverbo"Pakr)#etirimmpocan EErevict ndow. Check DISPLAY variablP."orde inrha infplayelfVainblP(0)orde inrha in te %dorde inrhafplay ndow.wm_tttlPe e ytttlP orde innnnw, ._ de) eself.e eCCgetWidorde innnn#recvf w < 310forde inrha# nnw, ._ dmap(lambdalx: xe*V2 p(w, .))orde inrhafplaycanvas++]Tkde in.Canvas(fplay ndow,usior= Now,o0{idth)=eh)orde inrhafplaycanvas.pack({' ec ': ')#eh', 'exp ': 'y', 'sade': ')#etom'})orde inrhafplaycanvas.b nd("", rcmm=rrnnam)LeftClickDown)orde inrhafplaycanvas.b nd("", rcmm=rrnnam)LeftClickUp)orde inrhafplaycanvas.b nd("", rcmm=rrnnam)MiddleClick)orde inrhafplaycanvas.b nd("", rcmm=rrnnam)RidthClick)orde inrhafplaycanvas.b nd("",(lambdalut fo:afplaym) e Onvirs)orde inrhafplaycanvas.b nd("-",(lambdalut fo:afplaypopCrmibackL ebu)orde inrhafplaycanvas.b nd("=",(lambdalut fo:afplayl eCrmibackL ebu)orde inrhafplaycanvas.focus_seo e e e safplay ndow.wt ",_tolevel()=rrntocxe('WM_DELETE_WINDOW', eCCgadeWindow) orde inrharf ,u#s main__forde inrha 0 ec)srDself.p)u#s e eselfenu( orde inrha bforde inrhang( ec)srDself.p[] orde inrhafec)srL ef.p[['L ef ec)srs',afplayl eCrmibackL e]r) cinfo, JPOOL_PERMANENT['Togulen ec)srs',afplaytoguleFec)srModP]r) cinfo, JPOOL_PERMANENTalu=e) cinfo, JPOOL_PERMANENT['CINCrn ec)srs',a[["Lset", rcmm=ropCrmibackL e]r) cinfo, JPOOL_PERMANENTfo, JPOOL_PERMANENT[' e',afplay(INCrCrmibackL e]]]r) cinfo, JPOOL_PERMANENTalu=] orde inrhafec)srL e.infond(n,u#s evicFec)srMenu( ec)srDsel) s orde inrha>=nu"+][('FrnN',[#['L e Fec)srs...', eCC e Fec)srs]r) cinfo, JPOOL_PERMANENTfo,#['SaveeFec)srs...',nfplayeaveFec)srs]r) cinfo, JPOOL_PERMANENTfo,#alu=e) cinfo, JPOOL_PERMANENTENT['Saveehe,d,o..',nfplayeavehe,d,]r) cinfo, JPOOL_PERMANENTfo,alu=e) cinfo, JPOOL_PERMANENTENT['Ch)=e', eCCgadeWindow] ) cinfo, JPOOL_PERMANENT, ])r) cinfo, JPOOL_PER(' ',a[['P.old',nfplayp.oldBueton]r) cinfo, JPOOL_PERMANENTfo, ['Play',nfplayplayBueton]r) cinfo, JPOOL_PERMANENTfo, ['U) e ',nfplaym) e Bueton]r) cinfo, JPOOL_PERMANENTfo, alu=e) cinfo, JPOOL_PERMANENTENT ['Fast U) e )(10Hz)',(lambdalrcmm=B" :nfplayelfU) e Ie inFil(0.1)]r) cinfo, JPOOL_PERMANENTfo, ['Medium U) e )(5Hz)',(lambdalrcmm=B" :nfplayelfU) e Ie inFil(0.2)]r) cinfo, JPOOL_PERMANENTfo, ['NIZsel U) e )(1Hz)',(lambdalrcmm=B" :nfplayelfU) e Ie inFil(1.0)]r) cinfo, JPOOL_PERMANENTfo, ['S*)wtU) e )(.5Hz)',(lambdalrcmm=B" :nfplayelfU) e Ie inFil(2.0)]r) cinfo, JPOOL_PERMANENTfo, ])r) cinfo, JPOOL_PER('Fec)sr'e fec)srL e0] orde inrha# ]td_eet>=nu=rde inrha,u#s eBar++]Tkde in.F-,1,(fplay ndow,urelief=Tkde in.RAISED, borderwhar*=2 e e e safplayeBar.pack( ec =Tkde in.Xe uxp ='n',nfidP++]"to" e e e safplaygoBuetons++]{} e e e safplaye=nuBuetons++]{} e e e saSIZ entryo)man=nuforde inrhang(-----eBar.tk_e=nuBa e eevicMenu(B" -eBar, entry[0],oentry[1]u)orde inrhaiu=eselrcmm=1nfVainblP(1" %r(self.pat ndow.aspect()u#s e e _ nit__(self,) cinfo, JPOOL_PERMANENTfo)u#s e e _ nit__(self" %r(self.pat ndow.minidth(200('v orde inrecvf f.pat ndow.tk.dolu=ut fo(2):opsel=max(agsep.oldBueton(B" d:iu=eselrcmm=1nfAc veI0s max(selfplayBueton(B" d:iu=eselrcmm=1nfAc veI1a=max(self.>=NonBueton(B" d:iu=eselrcmm=m) e Onvirs max(selfelfU) e Ie inFil(B" e Fild:iu=eselrcmm=m) e WindowIe inFile)0Fil max(self lyl. e "eomm e *args forde inselmer (eomm =selmer ("" forde in in te %d () e e e lyFec)sr( (eomm e args orde in bforde inrharaise "ImrrnperFSIZsetssgioa lyl)"0max(selfaddFec)sr(. e "funce *args forde inone, verboAd the ec)sr tort e0 ec)sr l e.akrC elExamle: Buiff-forde ino*forde n in te5ucntsps forde inselmee "f =selmer ("" forde inrhafpla=ermibackL 1]. t,(lambdalrcmm=B" e "f=e "fun e args=args:CBuiioa e "funce *arebu)orde inrhafplaeermibackTextL 1]. tlfl eFec) (e "fun e argss orde in bforde inrhafpla=ermibackL 1]. e "fs ] orde inrhatryforde inrharhafplaeermibackTextL 1]. 5ucntspe e pu=,"s e "fs gui orde inrha xctHeforde inrharhafplaeermibackTextL 1]. "[Usec)D AL eC func ]"s ] orde insel EEr-----infAc veI forde inself.selp.oldiioa rminita rnNUL mm=m) bforde inrhafppatrrnnam) e e in te %d rnsdrcla=ermibackL) - 1 fo=max(selfe)srMenu(B" b-eBaFilSoc( (eommargs forde in Assumese safplaye=nuBuetoexckLse= None, verha>=nuc =Tkde )srMbonBuetb-eBtckT=FilSounbor],oR=0elf" %r(self.laye=nuBuet[FilS+ 2eeet>=nu=rdeng(>=ar.pa',nfec =Tkde LEFT,padx="2mto" e ng(>== Ckrha>=nuc =Tkde )srM(rha>lf.ddat =rosgmd sttan(eommar )forde inrhagmd =fo->daCetforde inrhang(>== Ckrha>cuspar]td_enu( orde inrh inselmermdtry[ =selme[1,]Wid forde inrhanewrha>=nuc =Tkde )srM(rha>lf.ddat .ddat =rosgn(eomm sttamdtryguiforde inrha innewrha>cgn(eomm(labeldthis(eommtry[0is(eomm=is(eommt1])etforde inrhang(>== Ckrha>ccascade(label=amdtry[0rha>=newrha>]]] orde inrha bforde inrhang(>== Ckrha>ccn(eomm(label=amdtry[is(eomm=immt1])etfordeng(>='ng(>'+ 2eeet>== Ckrha>e e in te %d >=nu=max(slayl eCrmibackL on(B" d:iu=e inpveraveFec):None, verap( d/isp,arhafplaeermibackTextLvirs max(slaytog ['Pbie(B" e ut fo fordeselrcmm=1nfAc sel EEr-----infAc vvirs max(slaytoguleFec)srMton(B" d:iu=eselrc#s oec)srModPsel EEr--#s oec)srM] orde insel EEr-----infAc veI forde inselrcmm=m) e Onvirs max(s---in.Canself.won(B" d:iu=e in te %d ()lay ndow.wt welf.wi - 2irs max(s---in.Canelf.heRon(B" d:iu=e in te %d ()lay ndow.wt hlf.heRi - 2 - 28I0s max(sem=rrnnam)LeftClickDbie(B" e ut fo fordeal(xodP*Sout x/feCCpect()u---in.Canself.w))" e ut.y/feCCpect()u---in.Canelf.heRielf" %r(self.rha X,(self.rha YodPnpv(x+ yt*eevic(selket((( + yt*eevit__(sel0s max(sem=rrnnam)LeftClUpbie(B" e ut fo fordeal(xodP*Sout x/feCCpect()u---in.Canself.w))" e ut.y/feCCpect()u---in.Canelf.heRielf" %r(al(xodPnpv(x+ yt*eevic(selket((( + yt*eevit__(sel orde in(x+==(self.rha XnNUL y+==(self.rha Y("" forde in g(--------#s e e(npv(xlket((( gui orde in inpvee)0'------r)#e.[0].addFec)sSIZch"nc=,nc=,nc=,)s",'(iff---, iff---, iff-2])etforde in in te %d ()0].addFec)sSIZch"nciff---, iff---, iff-2])etforderha bforde in inpvee)0'------r)#e.[0].addFec)shxtLogn.F"nc=,nc=,nc=,nc=,nc8)s",'(self.rha X,(self.rha Y, al(x, y)orde in in te %d ()0].addFec)shxtLogn.F"ncself.rha X,(self.rha Y, al(xnc8)l0s max(sem=rrnnam)MiddleClbie(B" e ut fo fordeal(xodP*Sout x/feCCpect()u---in.Canself.w))" e ut.y/feCCpect()u---in.Canelf.heRielf" %r(al(xodPnpv(x+ yt*eevic(selket((( + yt*eevit__(sel orde g(--------#s e e(npv(xlket((( gui orde inpvee)0'------r)#e.[0].addFec)sSIZch"nc=,nc=,nc=,nc=,nc=,)s",'(iff---, iff---, iff-2]----) d:iu=e in te %d ()0].addFec)sSIZch"nciff---, iff---, iff-2]----) 0s max(sem=rrnnam)RidthClbie(B" e ut fo fordeal(xodP*Sout x/feCCpect()u---in.Canself.w))" e ut.y/feCCpect()u---in.Canelf.heRielf" %r(al(xodPnpv(x+ yt*eevic(selket((( + yt*eevit__(sel orde g(--------#s e e(npv(xlket((( gui orde inpvee)0'------r)#e.[0].addFec)sSIZch"nc=,nc=,nc=,nc=,nc=,)s",'(iff---, iff---, iff-2]---2) d:iu=e in te %d ()0].addFec)sSIZch"nciff---, iff---, iff-2]---2) 0s max(seCCgadeWinton(B" d:iu=eselrcmm=elfVainblP(0)orde%d ()lay ndow.chthdraw()orders max(s---avehe,d,(B" fordeen) fboPIL.Ppmhe,d,Plu.veehe,c "nstinpg('RGBX' e]r) cinfo, JPOOL_PERMANENTfo, JPOOL_PERMANNNNNNNNect()u#s e e _ nit__(sart)r) cinfo, JPOOL_PERMANENT, e _ n ese, 'thd e ',nfp/ pSIZs1a=max(self.>=adeWinton(B" d:iu=erharf ,ugm=elfVainb("" forde inn ndowe s: e s:enu( orde in insew - self.rha setWindowU) =None e e e in te %d ()mtU) I1a=max(self.>=artelf.on(B" d:iu=eselrcpatm) e 1a=max(sdeladdFec)sr(. pos" d:iu=eselrcla=ermibackL remoc pos" d:iu=eselrcla=ermibackTextL remoc pos" d:iu=e insel EEr-----infAc veI forde inselrcmm=m) e Onvi0)orde in te %Ok"irs max(slaypopCrmibackL on(B" d:iu=erha%d rnsdrcla=ermibackL) > 0eI forde inselrcla=ermibackL layseo e e e safpla=ermibackTextL layseo e insel EEr-----infAc veI forde inselrcmm=m) e Onvi0)orde in te %Ok"irs max(skr)(INCrCrmibackL on(B" d:iu=e e ermib """ dC func ten ) crfirsl par]m d:iu=e ase saf (ialu=he#e io=0,= ('v orde inrec%d rnsdrcla=ermibackL) > 0enselrcla=ermibackL layseo e inrec%d rnsdrcla=ermibackTextLv > 0enselrcla=ermibackTextL layseo e insel EEr-----infAc veI forde inselrcmm=m) e Onvi0)orde in te %Ok"irs max(skr)(IaveFec)srs(B" fordeselrclr)(INCrCrmibackL ebuiu=e0s max(sem=rrnnam) on(B" d:iu=erharf ,u#s oec)srMolP+mpr ,u#s maiory ->daCetforde in-----#s e e lyFecackL ebuiu=ee inrec%d rnsdrc#s oec)srResd): nsdrc#s oec)srResd layseo e e e=ros#s oeceC f sttselrcla=ermibackLtryforde inrharhafp#s oec)srResd 1]. es oeceC f on(B" ine)elf.currentt>='elf.stta'tryfo __nnam__o== "__main__": frompyrobo.virsio8cviammmportFakr)#e/camefErev frompFEregioCamer) #e/ e FEregioCam(e iin), dFakrCammer(vr) #e/u#s evicWindowr) #e/ulaym) e WindowI i#e/upat ndo.stol"l((virsgeEGo ry/0060043206215131 5ustar dblankdblank00000000000000geEGo ry/pyrobot/camerafakr/__ nit__.py0170076072732526576266450001473010537146600071103 0ustar dblankdblank00000000000000#hth #oe """=he#geEGo ry0isde. Ienita erR^3. #htham) vey jds/po=Tkta reslayls w/ 3 eomlems [x,y,z] #hthafAvey jdsa restupleooksll: ([x,y,z],[i,j,k]) #hthth- stephen -hthginpppyrortm TOLERANCde...01 PIOVER180, ._ th.pi / 180.0 PITIMES180, ._ th.pi * 180.0 DEG90RRSSIile)5 * _ th.pi COSDEG90RRSSIil_ th.cos(DEG90RRSS) / 10.0 SINDEG90RRSSIil_ th.sin(DEG90RRSS) / 10.0 et selfnnnx1, y1, x2, y2" d:iu in te % th.sqrtd ex1h- x2) ** 2 + (y1h- y2) ** 2 ) et sa , bAdd(a , b _ ngree): #sa , btaiio ngrees d:iu in te (a , b + ngree) % 360(self.evposifAc ,Z yern r{ 0-360 et sa , bEqual(a , b1,sa , b2, tolCamquet= 5): #sa , btag thgolCamquetiio ngrees d:iu in te abs((a , b1 % 360) h- (a , b2 % 360)) TOLERANCdeI forde i in te 0 d:iu in te 1 = NoTctop. rest); TkdesathudC func s adde,o}; Muhammb eenpppary Stephen - pnReINu i.cfetst);m, optiminivt);m, orBS? I do(PyEk - dsJPEGo le: = Noet si kdesathSegSeg(A0 A1,sB0 B++])0ste# in te %d kdesath?, D" e e#d kdesath?tan_0 insel, 1rminyes d:iu#D """=he#d kdesath xepo=Tk d:iu%d kde1,sm #d kdesathLSeg(A0 A1,sB0 B++ d:iu%d kde2,sm #d kdesathLSeg(B0 B+ A0 A1) d:iu in te (d kde1 * d kde2,sm oet si kdesathLSeg( L0 L+ S0 S++])0steL0, ._ p (feCCp LlP(0)orL1, ._ p (feCCp L1) d:iuS0, ._ p (feCCp SlP(0)orS1, ._ p (feCCp S1) d:iu# in te %d kdesath?, D" e e#d kdesath?tan_0 insel, 1rminyes d:iu#D """=he#d kdesath xepo=Tk d:iuI for# inpveL0 L+ S0 S+ d:iu i((S0[ + 0= S+[0]u(g th(S0[1+ 0= S+[ry[1: #we only eesl real1],oRsI forde i in te ----[0,0]v d:iu i((L0[ + 0= L+[0]u(g th(L0[1+ 0= L+[ry[1:I forde i in te ----[1,0]v d:iu d:iunL=nu"-(L+[ry - L0[1+), L+[0] - L0[--[0]]or#nL=nu"L+[0] - L0[--, L+[ry - L0[1+[0]]ordSIil[ S+[0] - S0[--, S+[ry - S0[1+[0]]or d:iunLIBS-dot nL,dS--2) d:iu d:iu i(golCq(nd,0[1:I forde i in te ----[2,s0]v d:iu d:iudLSIil[S0[ + - L0[--, S0[1+ - L0[1+[0]]orI for# inpvenLI for# inpvedSI for# inpvedLSI fortFildot nL,dLS--2) / econd d:iu i(g =Neey,sa , #2d d:iu in(a ,==01:I forde i in te eey d:iu in(serm(eey[ 01: #%d ge +eeytan_0!I forde i in te eey d:iu# inpverrot.>=",eey,sa , d:iu in te pol2car(a ,le(eey[ + a ,,cdot eey,seey[sel) f* sSeglem:I for(msagse from(fil. mm=1,[0],d,siLIBS ne veI forde isd ()mtUrtWidttUrtI forde isd ()enLIBSendI forde isd ()iLIBSidI for(msamidpo=Tk(on(B" d:iu=eor in te -(sd ()mtUrt[ + + sd ()enL[0]u/2.rt)r) cinfo, JPOOL(sd ()mtUrt[1+ + sd ()enL[1]u/2.)I for(msa%d ge (on(B" d:iu=eor in te _ th.sqrtd(sd ()mtUrt[ + - sd ()enL[0]u**2 +t)r) cinfo, JPOOLfo, JPOOL(sd ()mtUrt[1+ - sd ()enL[1]u**2)I for(msa]onvm; (on(B" d:iu=eor in te sd ()mtUrt[ + ==(self.enL[0] d:iu#? I do(e er #oe "+8); IZ sa]onvm; I for(msaslop=None e e e r in te -sd ()enL[1] - sd ()mtUrt[1+)/(self.enL[0] - sd ()mtUrt[0]v d:iu# orBe at"", (msayd kdea xc(on(B" d:iu=eor in te sd ()mtUrt[1] - sd ()mtUrt[0] yt*eevslop=N)I for(msaa ,le(on(B" d:iu=eor in te _ th.d n2(sd ()enL[1] - sd ()mtUrt[1+, self.enL[0] - sd ()mtUrt[0]v d:iuax(agsr eenFil(B" o8);xveI forde irharf ,u#onvm; (Wid forde inrhanin te o8);xu#onvm; (Wd forde irh ino8);xu#onvm; (Wid forde inrhanin te 0d forde irha bforde inrha in te sd ()mlop=N) ==(o8);xuslop=N)I for#a in te 8); po=Tk at inch twsJPeglems ma mri Tkdesathu"+8);y e.infnored sel#aSIZough d:iuax(ad kdesath onFil(B" o8);xveI forde irharf ,ugsr eenFo8);xveI forde ied se8); eglems mayad kdesathoopThen I do(e r8o orde inrha in te ne e e irh inrf ,u#onvm; (Wid forde inrhanin te o8);xud kdesath onFil(BWd forde irh ino8);xu#onvm; (Wid forde inrhanin te (o8);xustUrt[0]rt)r) cinfo, JPOOL_PERrf ,uyd kdea xc([ + o8);xustUrt[0] yt*eevslop=N))d forde irha bforde inrha# m1l[(xb1, ._2l[(xb2;JPE bforde inrha# (m1h- m2)l[(xb1,-xb2xels bforde inrha# (m1h- m2)l[=xb2x-xb1 bforde inrha# l[=x(b2x-xb1)/(m1h- m2) bforde inrhal[=x((o8);xuyd kdea xc([ -Rrf ,uyd kdea xc([) /t)r) cinfo, JPOOL_(sd ()mlop=N) -(o8);xuslop=N)))d forde inrhanin te (x,Rrf ,uyd kdea xc([ + x yt*eevslop=N))d forax(ad _bbox)sr(. point" d:iu=eor in te -(point[0] <= sd ()mtUrt[0] g thpoint[0] >=(self.enL[0] cxel=m(hhhhhhhhhhhhhpoint[0] <= sd ()enL[0] g thpoint[0] >=(self.mtUrt[0]v g tt)r) cinfo, JPOOL(point[1] <= sd ()mtUrt[1] g thpoint[1] >=(self.enL[1] cxel=m(hhhhhhhhhhhhhpoint[1] <= sd ()enL[1] g thpoint[1] >=(self.mtUrt[1+))I for#a""" po=Tk colIZ add: (chr tat" glem?d forax(aonANTde)sr(. point" d:iu=eor inrf ,u#onvm; (Wid forde inrhanin te point[0] ==(self.mtUrt[0]d forde irha bforde inrha in te (point[0] yt*eevslop=N) + sd ()yd kdea xc([ ==hpoint[1]) d:iuax(ad kdesathsFil(B" o8);xveI forde irharf ,ugsr eenFo8);xveI forde ied se8);yerboc"d kdesath"u"+8);y rescolIZ addg thyroot tmap \ne inrh insel ,d,(Bpi _bbox)o8);xustUrt) orBd,(Bpi _bbox)o8);xuenL)veI forde ied nrha in te ne e e ide irh inrf ,u#onvm; (Wid forde inrhade irharf ,umtUrt[ + ==(o8);xustUrt[0]id forde inrhade inrha in te d,(Bpi kdesath onFo8);xvd forde inrhade irha bforde inrhaed nrha in te ne e e ide irha bforde inrhaed rharf ,uyd kdea xc([ ==ho8);xuyd kdea xc([id forde inrhade inrha in te d,(Bpi kdesath onFo8);xvd forde inrhade irha bforde inrhaed nrha in te ne e e irha bforde inrhaio, safpi kdesath onFo8);xvd forde inrharharf ,ui _bbox)iu(g tho8);xud _bbox)iueI forde ied nrha in te i e e ide irha bforde inrhaed in te ne e)elf.currentt>='elf.stta'tryfoa inpve_ th.sqrtd9vd forx1, .[1,0,0]d forx2self.,1,0]d forx3self.,.,1]d fora , .[1,1,1]d forb , .[-1,1,2[0]]orI for insel golCq(a ,le(x1,x2),_ th.pi/2ueI forde i inpvera , ba"""brokeoc",a ,le(x1,x2),"en ispeedd",_ th.pi/2I forde iI for incross(x1,x2)ory x3eI forde i inpvercrossa"""brokeo"irs morde.ver kdesathSegSeg([0,0],[2,2[,[2,0],[0,2])e= Ckrtxt0026236001064521014765450001473010537146600071103 0ustar dblankdblank00000000000000/home/ank/engZ /py /home/ank/#e/) /el(f8opy /home/ank/#e/) /D---py /home/ank/#e/) /confi--py /home/ank/#e/) /debu--py /home/ank/#e/) /SerialCf.pathrsioSy /home/ank/#e/) /Clilemom Snepy /home/ank/#e/) /eerial/eerialwin32py /home/ank/#e/) /eerial/eerialposixpy /home/ank/#e/) /eerial/eerialutilpy /home/ank/#e/) /eerial/py /home/ank/#e/) /]onsrsioSy /home/ank/#e/) /py /home/ank/bt848bt848py /home/ank/bt848py /home/ank/blobblobpy /home/ank/blobpy /home/ank//isper/eetuppy /home/ank//isper//isper#e/upy /home/ank//isper/py /home/ank/v4lv4lpy /home/ank/v4lpy /home/ank/cupcuppy /home/ank/cuppy /home/ank/fErefErepy /home/ank/fErepy /home/ank/cca/home/ank/py /home/ank/py /home/ank/geEGo ry/py /home/ank/omp Ckrpy /home/ank/br.st/so/upy /home/ank/br.st/seqXoepy /home/ank/br.st/fuzzypy /home/ank/br.st/pso//viseey jdpy /home/ank/br.st/pso//cso/_src/cso/py /home/ank/br.st/pso//cso/_src/eesl_cso/py /home/ank/br.st/pso//vispy /home/ank/br.st/pso//py /home/ank/br.st/vconxpy /home/ank/br.st/behavijds/cof8opy /home/ank/br.st/behavijds/py /home/ank/br.st/behavijds/b(f8opy /home/ank/br.st/conxpy /home/ank/br.st/gppy /home/ank/br.st/ravqpy /home/ank/br.st/VisCf.x/TwoDimPlotpy /home/ank/br.st/VisCf.x/VisSweepConxpy /home/ank/br.st/VisCf.x/VisCf.x A Bpy /home/ank/br.st/VisCf.x/NetS1,coutey /home/ank/br.st/VisCf.x/HrdesnWr1]. dpy /home/ank/br.st/VisCf.x/ArchDia--py /home/ank/br.st/VisCf.x/Vis)MyR=Conxpy /home/ank/br.st/VisCf.x/Hrdesnpy /home/ank/br.st/VisCf.x/py /home/ank/br.st/VisCf.x/AnfAcaunc sDia--py /home/ank/br.st/nf que1-py /home/ank/br.st/nf quepy /home/ank/br.st/pyso/upy /home/ank/br.st/seqXoe2py /home/ank/br.st/py /home/ank/br.st/gapy /home/ank/br.st/gyroonjdpy /home/ank/br.st/rbfpy /home/ank/aimlpy /home/ank/aim. ../ 23py /home/ank/aimcsppy /home/ank/aimgspy /home/ank/aim.knin--py /home/ank/aim.abilitypy /home/ank/aimD--ic1-py /home/ank/aimD--ic-py /home/ank/aimtckT-py /home/ank/aimdocexpy /home/ank/aimutilspy /home/ank/aimmdppy /home/ank/aimr)(Inin--py /home/ank/aimnlppy /home/ank/aims)(Ichpy /home/ank/aimaglemspy /home/ank/aimpy /home/ank/aim. 2htmlpy /home/ank/aimbaytogpy /home/ank/e /__": /mm=rsioSy /home/ank/e /__": /py /home/ank/_": /IZ exam/myFEregioCam inakr8py /home/ank/_": /IZ exam/py /home/ank/_": /py /home/ank/buildbr.stTeexaatr8py /home/ank/pd,Plusbr.sts/Avoid8py /home/ank/pd,Plusbr.sts/NNPredictWithPlotspy /home/ank/pd,Plusbr.sts/BBCaptuf8opy /home/ank/pd,Plusbr.sts/SOMWanboropy /home/ank/pd,Plusbr.sts/TesT-py /home/ank/pd,Plusbr.sts/), dFaTesT-py /home/ank/pd,Plusbr.sts/Doleoppy /home/ank/pd,Plusbr.sts/RAVQopy /home/ank/pd,Plusbr.sts/SOMAAopy /home/ank/pd,Plusbr.sts/L)(Inin-/colIeoutey /home/ank/pd,Plusbr.sts/L)(Inin-/deploypy /home/ank/pd,Plusbr.sts/L)(Inin-/tr.stpy /home/ank/pd,Plusbr.sts/L)(Inin-/py /home/ank/pd,Plusbr.sts/L)(Inin-/avoid8py /home/ank/pd,Plusbr.sts/Joe/)ickopy /home/ank/pd,Plusbr.sts/SiexamWanboropy /home/ank/pd,Plusbr.sts/ReflexVacuumAglemopy /home/ank/pd,Plusbr.sts/SubsumphrsioSy /home/ank/pd,Plusbr.sts/NNRanbo/upy /home/ank/pd,Plusbr.sts/Konang ['Poropy /home/ank/pd,Plusbr.sts/BBTesT2py /home/ank/pd,Plusbr.sts/NNClu fas8py /home/ank/pd,Plusbr.sts/NNPredictopy /home/ank/pd,Plusbr.sts/SiexamBr.stpy /home/ank/pd,Plusbr.sts/NNWanboropy /home/ank/pd,Plusbr.sts/BBTesTopy /home/ank/pd,Plusbr.sts/Sliboropy /home/ank/pd,Plusbr.sts/AFindBallpy /home/ank/pd,Plusbr.sts/gioMoSnepy /home/ank/pd,Plusbr.sts/FSMPushPoppy /home/ank/pd,Plusbr.sts/FSMSqu(f8opy /home/ank/pd,Plusbr.sts/KLf.heopy /home/ank/pd,Plusbr.sts/BlobTrackopy /home/ank/pd,Plusbr.sts/Vehicle3py /home/ank/pd,Plusbr.sts/LPSWanboropy /home/ank/pd,Plusbr.sts/FuzzyPTZopy /home/ank/pd,Plusbr.sts/BBOffakr8py /home/ank/pd,Plusbr.sts/Vehicle1-py /home/ank/pd,Plusbr.sts/Vehicle2apy /home/ank/pd,Plusbr.sts/gr)(nUppy /home/ank/pd,Plusbr.sts/ASoccoropy /home/ank/pd,Plusbr.sts/BBWanboropy /home/ank/pd,Plusbr.sts/TrackBallpy /home/ank/pd,Plusbr.sts/Joe/)ickMappy /home/ank/pd,Plusbr.sts/Br.stenber--py /home/ank/pd,Plusbr.sts/BBSqu(f8opy /home/ank/pd,Plusbr.sts/py /home/ank/pd,Plusbr.sts/BBWanborAndCaptuf8opy /home/ank/pd,Plusbr.sts/Wanboropy /home/ank/pd,Plusdinakrs/),ewBackopy /home/ank/pd,Plusdinakrs/)4LgioCamopy /home/ank/pd,Plusdinakrs/),ewFront_allpy /home/ank/pd,Plusdinakrs/),ewFrontpy /home/ank/pd,Plusdinakrs/Poworopy /home/ank/pd,Plusdinakrs/TesTopy /home/ank/pd,Plusdinakrs/gioCamopy /home/ank/pd,Plusdinakrs/TutorialCioCam2py /home/ank/pd,Plusdinakrs/ inakr8py /home/ank/pd,Plusdinakrs/PanTiltZoomSonypy /home/ank/pd,Plusdinakrs/),ewRf.heopy /home/ank/pd,Plusdinakrs/),ewopy /home/ank/pd,Plusdinakrs/Lasoropy /home/ank/pd,Plusdinakrs/Sonaropy /home/ank/pd,Plusdinakrs/Blobfinboropy /home/ank/pd,Plusdinakrs/AgioCamopy /home/ank/pd,Plusdinakrs/ ['PorgioCamopy /home/ank/pd,Plusdinakrs/)4LgioCam1-py /home/ank/pd,Plusdinakrs/FEregioCam8py /home/ank/pd,Plusdinakrs/PanTiltZoomCansioSy /home/ank/pd,Plusdinakrs/)4LgioCam0opy /home/ank/pd,Plusdinakrs/BT848gioCam8py /home/ank/pd,Plusdinakrs/)MyRcupgioCamopy /home/ank/pd,Plusdinakrs/),ewBack_allpy /home/ank/pd,Plusdinakrs/PanTiltZoomopy /home/ank/pd,Plusdinakrs/),ewam)Lopy /home/ank/pd,Plusdinakrs/TutorialCioCamopy /home/ank/pd,Plusdinakrs/AllSuppppyed8py /home/ank/pd,Plusdinakrs/Siexam inakr8py /home/ank/pd,Plusdinakrs/),ewAllpy /home/ank/pd,Plusdinakrs/Sfasea/home/ank/pd,Plusdinakrs/Blob/home/ank/pd,Plusdinakrs/Gri]. dpy /home/ank/pd,Plusdinakrs/Bumpec)s/home/ank/pd,Plusdinakrs/BlobCioCamopy /home/ank/pd,Plusdinakrs/py /home/ank/pd,Plusdinakrs/GPSpy /home/ank/pd,Plusdinakrs/GL),ewopy /home/ank/pd,Pluss/P)MyRt6opy /home/ank/pd,Pluss/P['Por6666opy /home/ank/pd,Pluss/TesTopy /home/ank/pd,Pluss/P)MyRtopy /home/ank/pd,Pluss/P)MyRt61-py /home/ank/pd,Pluss/HemisssioSy /home/ank/pd,Pluss/)MyRcupTeamBoSy /home/ank/pd,Pluss/)MyRcupoSy /home/ank/pd,Pluss/KhepecaSieuaatrd8py /home/ank/pd,Pluss/P['Por6665oSy /home/ank/pd,Pluss/)MyRcupTeamAopy /home/ank/pd,Pluss/Khepeca8py /home/ank/pd,Pluss/P['Por8py /home/ank/pd,Pluss/Acca/home/ank/pd,Pluss/py /home/ank/pd,Plusworlds/P/KonangWorldpy /home/ank/pd,Plusworlds/P/BigRoomWithLf.hes2Pi.dolc)s/home/ank/pd,Plusworlds/P/Vacuumgr)(nerWorldpy /home/ank/pd,Plusworlds/P/WumpusWorldpy /home/ank/pd,Plusworlds/P/Br.stenber--py /home/ank/pd,Pluspy /home/ank/pd'Por8py /home/ank/cupoSy /home/ank/khepeca8py /home/ank/cca/home/ank/dinakr8py /home/ank/symbolic-py /home/ank/py /home/ank/map/tkmappy /home/ank/map/occupancyGridpy /home/ank/map/lp)s/home/ank/map/py /home/ank/map/gp)s/home/ank/ai/gaqueen)s/home/ank/ai/queen)s/home/ank/ai/py /home/ank/guipdscatfas8py /home/ank/guipdhrdesnpy /home/ank/guipdsiexampy /home/ank/guipd_ trixpy /home/ank/guipd_ ppy /home/ank/guipdpy /home/ank/guirinfnrer/tkpy /home/ank/guirinfnrer/stream)s/home/ank/guirinfnrer/glpy /home/ank/guirinfnrer/ttypy /home/ank/guirinfnrer/py /home/ank/guiTKpy /home/ank/guiconsoampy /home/ank/guiwid e /trempy /home/ank/guiwid e /TKwid e /py /home/ank/guiwid e /py /home/ank/guittypy /home/ank/guipy /home/ank/onfi-uf8opy /home/ank/tools/circuaarsr l py /home/ank/tools/joe/)ickopy /home/ank/tools/trakr8py /home/ank/tools/mpi/allocatr8py /home/ank/tools/mpi/py /home/ank/tools/clu fas/tremplotpy /home/ank/tools/clu fas/pcaplotpy /home/ank/tools/clu fas/py /home/ank/tools/sliboropy /home/ank/tools/py /home/ank/general/aemspy /home/ank/general/ca8py /home/ank/general/ipdpy /home/ank/general/boidspy /home/ank/general/gaca8py /home/ank/general/py /home/ank/general/sdmopy /home/ank/py /home/ank/#ieuaatjds/khepeca/CNTRL/k#iepy /home/ank/#ieuaatjds/khepeca/CNTRL/py /home/ank/#ieuaatjds/khepeca/py /home/ank/#ieuaatjds/py#ie/py /home/ank/#ieuaatjds/py html/006001072673014247 5ustar dblankdblank00000000000000html/.pd,Plus.br.sts.BBTesT-moduamhtml001160260010754224166450001473010537146600071103 0ustar dblankdblank00000000000000 bf�������.pd,Plus.br.sts.BBTesT bf bf bfbf bfbf bfbf bfbf bfbf bf
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bfbfordedeP - P ../  )MyRtics bforde

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bforde bfbfordePckage  :: bfbfordePckage d,Plus :: bfbfordePckage br.sts :: bfbfordeModuam BBTesT bforde
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[frs | n frs]

Moduam .pd,Plus.br.sts.BBTesT

bfC f* s bf bf bf bf bf
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bfeC func Summary bf
 INIT(engZ )

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bfbforde

bfbfordedeP - P ../  )MyRtics bforde

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eC func s
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bfbforde

bfbfordedeP - P ../  )MyRtics bforde

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bforde bfbfordePckage  :: bfbfordePckage cioCam :: bfbfordePckage blob bforde
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PckageportFakr)#e/cameblob

bfSubmoduams de

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bfBlobCioCam 

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bfbforde

bfbfordedeP - P ../  )MyRtics bforde

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Generate,o}; Epydoc 2.1 c Mc Jul 25 01:39:26 2005http://epydoc.sf.net
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bfbforde

bfbfordedeP - P ../  )MyRtics bforde

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bforde bfbfordePckage  :: bfbfordePckage gui :: bfbfordePckage wid e :: bfbfordeModuam trem :: bfbfordeC f*  Nsde bforde
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C f* Nsde

Know Subc f* s:
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parlem_nsdeforde- immediate parlem nsde
idnrrrrrrrrrrrrr-siLIf* igie,oat creafAon
expanbod_icc
 de- imagepdispd'Pod dhenofolbora"""expanbod topdispd'P bforde inrrrrrrrrrchildrle
colIapsod_icc
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parlem_wid 
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hANTderrrrrrrrrr-scanvaat"toplefeeeddnsdef"mage.
vANTderrrrrrrrrr-scanvaat"belowdnsdef"mage thatrconpathsrchildrle.
indakrrrrrrrrrrr-sexpanb/colIapsoscanvaat"mage.
label rrrrrrrrrr-scanvaatsckT label
symbolrrrrrrrrrr-scurrlemscanvaat"mage

Please nste thatrme../ds prefixod PVT_*  ressel meanttopbe"use,o};
clilem program)s
bfMe../d Summary bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf
 (rf ,rt)r) cinfo,parlem_nsdert)r) cinfo,idrt)r) cinfo,colIapsod_icc rt)r) cinfo,xrt)r) cinfo,yrt)r) cinfo,parlem_wid ert)r) cinfo,expanbod_icc rt)r) cinfo,labelrt)r) cinfo,expanbable_flag)
Creafe nsdefg thi)0izef"t.
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Rin te sr leeddnsde'srchildrle...
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Deletosnsdeffrom trem
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Notifakatnc thatrdnd proce* ing has beenoenbod.
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Rin te true iddnsdef"""currlemly"expanbod, falsosotherwise...
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Rin te sr leeddIDseeddall parlems anbsnsdefID...
  e_label(rf ,)
Rin te string cont.sting sckT eddcurrlemslabel...
 insert_afkde(rf ,rt)r) cinfo,nsdes)
Insert sr leeddnsdes as iblings afkde thisonsde.
 insert_before(rf ,rt)r) cinfo,nsdes)
Insert sr leeddnsdes as iblings before thisonsde.
 insert_childrle(rf ,rt)r) cinfo,nsdes)
Insert sr leeddnsdes as childrleeeddthisonsde.
 nckT_ ib(rf ,)
Rin te nsde'srnckT ibling (8); child immediatelybelowdit)...
 nckT__": ble(rf ,)
Rin te nckT lowor _": bleonsde...
 parlem(rf ,)
Rin te nsde'srparlem nsde...
 prev_ ib(rf ,)
Rin te nsde'srprevious ibling (8); child immediatelyabovedit)...
 prev__": ble(rf ,)
Rin te nckT hf.hor _": bleonsde...
 PVT_cr)(nupANTdes(rf ,)
Riminirconpathing NTdes...
 PVT_crick(rf ,rt)r) cinfo,evlem)
Hanbleomouse ) ickso}; kicking off po* ible drag'n'drop...
 PVT_deleto_subtrem(rf ,)
Ricursivelydeleto subtrem & cr)(n up cy) ic refer questopmake...
 PVT_e kde(rf ,rt)r) cinfo,evlem)
detoctomouse hoSneofor drag'n'drop...
 PVT_finb(rf ,rt)r) cinfo,search)
Use,o}; searching fC func s...
 PVT_insert(rf ,rt)r) cinfo,nsdesrt)r) cinfo,posrt)r) cinfo,below)
Creafe g thsert newrchildrle.
 PVT_ f*t(rf ,)
Rin te tom-mostdnsdef"n subtrem...
 PVT_set_mtU) (rf ,rt)r) cinfo,stU) )
Commoi csdefforexpanbing/colIapsing folbors.
 PVT_tag_moSn(rf ,rt)r) cinfo,dism)
Movedeverything belowdcurrlemsicc ,topmake roomofor subtrem using 8); Disneypmagic ofditem tags.
 PVT_unbinb_all(rf ,)
Unbinb callbacksosodnsdef e garbage-colIoctod.
 PVT_updU) _scrolIregnc (rf ,)
UpdU) scrolI regnc ofor newrmini...
 set_colIapsod_icc (rf ,rt)r) cinfo,icc )
Setdnsde'srcolIapsodt"mage...
 set_expanbod_icc (rf ,rt)r) cinfo,icc )
Setdnsde'srexpanbod "mage...
 s e_label(rf ,rt)r) cinfo,label)
SetdcurrlemssckT label...
 toggle_mtU) (rf ,)
Togglednsde'srmtU) betweenoexpanbod g thcolIapsod,f"f po* ible...

bfMe../d Details
bf

(rf ,rt)r) cinfo,parlem_nsdert)r) cinfo,idrt)r) cinfo,colIapsod_icc rt)r) cinfo,xrt)r) cinfo,yrt)r) cinfo,parlem_wid e=Nonert)r) cinfo,expanbod_icc =Nonert)r) cinfo,label=Nonert)r) cinfo,expanbable_flag=0) bfbf
(Constructor) bf

Creafe nsdefg thi)0izef"t.  Thisoalsopdispd'Pse8); nsdefge the
givenopo*ifAon o
e8); canvaa,fg thbinbsomouse)
ickss
bf
bf
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childrle(rf ,) bf

Rin te sr leeddnsde'srchildrle
bf
bf
bf

colIapso(rf ,) bf

ColIapsosnsdef"f po* ible
bf
bf
bf

deleto(rf ,rt)r) cinfo,me_+]o=1) bf

Deletosnsdeffrom trem ("me_+]o"f"""aohackssel topbe"use,o};
ckTernal csde, please!)
bf
bf
bf

dnd_end(rf ,rt)r) cinfo, ert)r) cinfo,evlem) bf

Notifakatnc
 thatrdnd proce* ing has beenoenbod. It DOES NOT "mply
thatrwe've beenodroppe,osomewhere useful,rwe csuld have ju lebeen
droppe,ointopdeep space anbsnsthing happenod topany data structures,
orf"t csuld have beenoju lea plainomouse-)
ick w/opany draggings
bf
bf
bf

expanb(rf ,) bf

Expanbsnsdef"f po* ible
bf
bf
bf

expanbable(rf ,) bf

Rin te  true iddnsdefcanabe"expanbod (i.m iddit'seaofolbor)
bf
bf
bf

expanbeb(rf ,) bf

Rin te  true iddnsdef"""currlemly"expanbod, falsosotherwise
bf
bf
bf

full_id(rf ,) bf

Rin te sr leeddIDseeddall parlems anbsnsdefID
bf
bf
bf

e_label(rf ,) bf

Rin te string cont.sting sckT eddcurrlemslabel
bf
bf
bf

insert_afkde(rf ,rt)r) cinfo,nsdes) bf

Insert sr leeddnsdes as  iblings afkde thisonsde.  Call parlem
nsde'sradd_nsde() fC func
 topgeneratee8); sr leeddnsdess
bf
bf
bf

insert_before(rf ,rt)r) cinfo,nsdes) bf

Insert sr leeddnsdes as  iblings before thisonsde.  Call parlem
nsde'sradd_nsde() fC func
 topgeneratee8); sr leeddnsdess
bf
bf
bf

insert_childrle(rf ,rt)r) cinfo,nsdes) bf

Insert sr leeddnsdes as childrleeeddthisonsde.  Call nsde's
add_nsde() fC func
 topgeneratee8); sr leeddnsdess
bf
bf
bf

nckT_ ib(rf ,) bf

Rin te nsde'srnckT  ibling (8); child immediatelybelowdit)
bf
bf
bf

nckT__": ble(rf ,) bf

Rin te nckT lowor _":
bleonsde
bf
bf
bf

parlem(rf ,) bf

Rin te nsde'srparlem nsde
bf
bf
bf

prev_ ib(rf ,) bf

Rin te nsde'srprevious  ibling (8); child immediatelyabovedit)
bf
bf
bf

prev__": ble(rf ,) bf

Rin te nckT hf.hor _":
bleonsde
bf
bf
bf

PVT_cr)(nupANTdes(rf ,) bf

Riminirconpathing NTdes
bf
bf
bf

PVT_crick(rf ,rt)r) cinfo,evlem) bf

Hanbleomouse )
ickso}; kicking off po* ible drag'n'drop
proce* ing
bf
bf
bf

PVT_deleto_subtrem(rf ,) bf

Ricursivelydeleto subtrem & cr)(n up cy)
ic refer
questopmake
garbage colIoctnc
 happy
bf
bf
bf

PVT_e kde(rf ,rt)r) cinfo,evlem) bf

detoctomouse hoSneofor drag'n'drop
bf
bf
bf

PVT_finb(rf ,rt)r) cinfo,search) bf

Use,o}; searching fC func
s
bf
bf
bf

PVT_insert(rf ,rt)r) cinfo,nsdesrt)r) cinfo,posrt)r) cinfo,below) bf

Creafe g thsert newrchildrle. "nsdes"f"""sr lepreviouslycreafed
via callstopadd_sr l(). "pos"f"""infnxen
e8); sr leeddchildrleewhere
8); newrnsdes arehsertod. "below"f"""nsdefwhich newrchildrle shsuld
appear immediatelybelows
bf
bf
bf

PVT_lasm(rf ,) bf

Rin te tom-mostdnsdef"n subtrem
bf
bf
bf

PVT_set_mtU) (rf ,rt)r) cinfo,stU) ) bf

Commoi csdefforexpanbing/colIapsing folbors. It'sesel re-lemrant,
g ththere arehcertainocase""infwhich wefcanabe"callod ggainobefore
we'rehdone,osodwe use a mutexs
bf
bf
bf

PVT_tag_moSn(rf ,rt)r) cinfo,dism) bf

Movedeverything belowdcurrlemsicc
,topmake roomofor subtrem using
8); Disneypmagic ofditem tags.  Thisoise8); secreleeddmaking
everything as fa leasf"t iss
bf
bf
bf

PVT_unbinb_all(rf ,) bf

Unbinb callbacksosodnsdef 
e  garbage-colIoctod. Thisowasn't easy
topfigure oue the proper way topdodthis.  Sem alsoptag_binb() for the
Trem wid 
e itrf ,s
bf
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bf

PVT_updU) _scrolIregnc (rf ,) bf

UpdU)
 scrolI regnc
ofor newrmini
bf
bf
bf

set_colIapsod_icc (rf ,rt)r) cinfo,icc ) bf

Setdnsde'srcolIapsodt"mage
bf
bf
bf

set_expanbod_icc (rf ,rt)r) cinfo,icc ) bf

Setdnsde'srexpanbod "mage
bf
bf
bf

s e_label(rf ,rt)r) cinfo,label) bf

SetdcurrlemssckT label
bf
bf
bf

toggle_mtU) (rf ,) bf

Togglednsde'srmtU)
 betweenoexpanbod g thcolIapsod,f"f po* ible
bf
bf

bf bfbf bfbf bfbf bfbf bfbf bf
   Home      Trems      Infnx      Help    bforde bforde
bfbforde

br) cinfo,P - P ../  )MyRtics bforde

bfbf
bf bfbf bfbf bf
Generate,o}; Epydoc 2.1 o eMo eJul 25 01:39:26 2005http://epydoc.sf.net
/html/toc-.brain.gp-moduamhtml0000664000076400007640000000366410271075421022403 0umtUr dblankdblank00000000000000 bf�������.brain.gp bf gp
C f* ms
Environlem
GPGene
GPTrem
Operator

FC func s
g t_fC f
div_fC f
ifpo*_fC f
or_fC f
parsm
wrapObj

Variables
__au../r
__versnc
env

/html/toc-.brain.seqXor2-moduamhtml0000664000076400007640000000234610271075421023334 0umtUr dblankdblank00000000000000 bf�������.brain.seqXor2 bf s qXor2
FC func s
randVal
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Variables
__au../r
__versnc

/html/.cra.pd'Per.pd'Perc.DevicePtr-c f* html0000664000076400007640000002631610271075420026321 0umtUr dblankdblank00000000000000 bf�������.c���ra.pd'Per.pd'Perc��.DevicePtr bf bf bfbf bfbf bfbf bfbf bfbf bf
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bfbf
bf bfbf bfbf
bforde bfbfordePackage  :: bfbfordePackage cra :: bfbfordePackage d'Per :: bfbfordeModuam d'Perc :: bfbfordeC f*  DevicePtr bforde
bfbf		 bforde bfbf
[frs | n frs]

Typr DevicePtr

objecm --+bfbf br) cinfo|bfbf br) Device --+ bforde inrrrr| bforde inrrrDevicePtr

bfMe../d Summary bf bf    Inherite,ofrom Device bf bf bf bf bf bf bf bf bf bf bf    Inherite,ofrom objecm bf bf bf bf bf bf bf
 (rf ,rt)r) cinfo,this)
 __del(rf ,rt)r) cinfo,destroy)
 __ eattr(rf ,rt)r) cinfo,curr)
 __repr(rf ,)
 __s eattr(rf ,rt)r) cinfo,currrt)r) cinfo,e)0ur)
  eDepth(*args)
  eHef.he(*args)
  eImage(*args)
  eRGB(*args)
  eWerwh(*args)
 ii)0ize(*args)
 __delattr(...)
x.__delattr('curr') <==>del x.curr...
 __ eattribute(...)
x.__ eattribute('curr') <==>x.curr...
 __hash(x)
x.__hash() <==>hash(x)...
 __new(Trt)r) cinfo,Srt)r) cinfo,...)
T.__new(S, ...) ->a newrobjecm dethstypr S, a subtypr of T...
 __reduce(...)
helpneofor pickle...
 __reduceex(...)
helpneofor pickle...
 __str(x)
x.__str() <==>str(x)...

bfC f* Variable Summary bf    Inherite,ofrom Device
dicm __swig_ eme../ds =,{}
dicm __swig_s eme../ds =,{}

bf bfbf bfbf bfbf bfbf bfbf bf
   Home      Trems      Infnx      Help    bforde bforde
bfbforde

b P - P ../  )MyRtics bforde

bfbf
bf bfbf bfbf bf
Generate,o}; Epydoc 2.1 o eMo eJul 25 01:39:28 2005http://epydoc.sf.net
/html/.simulators.khepera.CNTRL.ksim-moduamhtml0000664000076400007640000001673510271075416025572 0umtUr dblankdblank00000000000000 bf�������.simulators.khepera.CNTRL.ksim bf bf bfbf bfbf bfbf bfbf bfbf bf
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bfbforde

b P - P ../  )MyRtics bforde

bfbf
bf bfbf bfbf
bforde bfbfordePackage  :: bfbfordePackage simulators :: bfbfordePackage khepera :: bfbfordePackage CNTRL :: bfbfordeModuam ksim bforde
bfbf		 bforde bfbf
[frs | n frs]

Moduam .simulators.khepera.CNTRL.ksim

bfC f* s bf bf
rrcntrl 
rrcntrlPtr 

bfVariable Summary
inm SHM_BUF_SIZE =,64                                                                    
inm SHM_PERM =,384                                                                   

bfVariable Details

SHM_BUF_SIZE

bf
bf
bfbf
bfbfbf
Typr:
bfbfbf
b inm bforde
bfbfbf
V)0ur:
bfbfbf
 64                                                                    
bfbforde
orde
bf

SHM_PERM

bf
bf
bfbf
bfbfbf
Typr:
bfbfbf
b inm bforde
bfbfbf
V)0ur:
bfbfbf
 384                                                                   
bfbforde
orde
bf

bf bfbf bfbf bfbf bfbf bfbf bf
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bfbforde

b P - P ../  )MyRtics bforde

bfbf
bf bfbf bfbf bf
Generate,o}; Epydoc 2.1 o eMo eJul 25 01:39:26 2005http://epydoc.sf.net
/html/toc-.-moduamhtml0000664000076400007640000000335610271075421022026 0umtUr dblankdblank00000000000000 bf�������.����� bf
Moduams
aibo
device
khepera
d'Per
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symbolic

C f* ms
R

FC func s
commas

Variables
__au../r
__versnc

/html/.gui.pd.hinton.Hinton-c f* html0000664000076400007640000001530210271075420024224 0umtUr dblankdblank00000000000000 bf�������.gui.pd��.hinton.Hinton bf bf bfbf bfbf bfbf bfbf bfbf bf
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bfbforde

b P - P ../  )MyRtics bforde

bfbf
bf bfbf bfbf
bforde bfbfordePackage  :: bfbfordePackage gui :: bfbfordePackage d :: bfbfordeModuam hinton :: bfbfordeC f*  Hinton bforde
bfbf		 bforde bfbf
[frs | n frs]

C f* Hinton

bfMe../d Summary bf bf bf bf bf
 __(rf ,rt)r) cinfo,blocksrt)r) cinfo,titlert)r) cinfo,werwhrt)r) cinfo,maxe)0urrt)r) cinfo,data)
Argulems:...
 changeSize(rf ,rt)r) cinfo,evlem)
 destroy(rf ,)
 setTitle(rf ,rt)r) cinfo,title)
 update(rf ,rt)r) cinfo,vec)

bfMe../d Details
bf

(rf ,rt)r) cinfo,blocks=1rt)r) cinfo,title=Nonrrt)r) cinfo,werwh=275rt)r) cinfo,maxe)0ur=1.0rt)r) cinfo,data=Nonr) bfbf
(Constructor) bf

 Argulems:

blocks: the mtUrting number of vectors to pd [1]
title: the title of the Pd window [hinton@$HOSTNAME]
werwh: the mtUrting werwh of the pd window [275]
maxe)0ur: The maximum magude of the pds [1.0]
data: The vector to ii)0ize the pd wiwh [Nonr]
bf
b

bf bfbf bfbf bfbf bfbf bfbf bf
   Home      Trems      Infnx      Help    bforde bforde
bfbforde

b P - P ../  )MyRtics bforde

bfbf
bf bfbf bfbf bf
Generate,o}; Epydoc 2.1 o eMo eJul 25 01:39:28 2005http://epydoc.sf.net
/html/.cra.pd'Per.pd'Perc.Pd'PerCam-c f* html0000664000076400007640000003506410271075417026317 0umtUr dblankdblank00000000000000 bf�������.c���ra.pd'Per.pd'Perc��.Pd'PerCam bf bf bfbf bfbf bfbf bfbf bfbf bf
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bfbforde

b P - P ../  )MyRtics bforde

bfbf
bf bfbf bfbf
bforde bfbfordePackage  :: bfbfordePackage cra :: bfbfordePackage d'Per :: bfbfordeModuam d'Perc :: bfbfordeC f*  Pd'PerCam bforde
bfbf		 bforde bfbf
[frs | n frs]

Typr Pd'PerCam

objecm --+bfbf br) cinfo|bfbf br) Device --+ bforde inrrrr| bforde inrrrPd'PerCam

Known Subc f* ms:
bfbfPd'PerCamPtr
bfMe../d Summary bf bf bf bf bf bf bf    Inherite,ofrom Device bf bf bf bf bf bf bf    Inherite,ofrom objecm bf bf bf bf bf bf bf
 (rf ,rt)r) cinfo,*args)
 del(rf ,rt)r) cinfo,destroy)
  eattr(rf ,rt)r) cinfo,curr)
 repr(rf ,)
 s eattr(rf ,rt)r) cinfo,currrt)r) cinfo,e)0ur)
 updateMMap(*args)
  eDepth(*args)
  eHef.he(*args)
  eImage(*args)
  eRGB(*args)
  eWerwh(*args)
 ii)0ize(*args)
 __delattr(...)
x.__delattr('curr') <==>del x.curr...
 __ eattribute(...)
x.__ eattribute('curr') <==>x.curr...
 __hash(x)
x.__hash() <==>hash(x)...
 __new(Trt)r) cinfo,Srt)r) cinfo,...)
T.__new(S, ...) ->a newrobjecm dethstypr S, a subtypr of T...
 __reduce(...)
helpneofor pickle...
 __reduceex(...)
helpneofor pickle...
 __str(x)
x.__str() <==>str(x)...

bfPropnety Summary bf bf bf
 camDevice
 client
 infnx

bfC f* Variable Summary bf
dicm __swig_ eme../ds =,{'infnx': <built-in fC func  Pd'Pe...
dicm __swig_s eme../ds =,{'infnx': <built-in fC func  Pd'Pe...
typr_s =,.cra.pd'Per.pd'Perc.Device

bfC f* Variable Details

__swig_ eme../ds

bf
bf
bfbf
bfbfbf
Typr:
bfbfbf
b dicm bforde
bfbfbf
V)0ur:
bfbfbf
 {'camDevice': <built-in fC func
 Pd'PerCam_camDevice_ 
e>,
 'client': <built-in fC func
 Pd'PerCam_client_ 
e>,
 'infnx': <built-in fC func
 Pd'PerCam_infnx_ 
e>}
bfbforde
orde
bf

__swig_s eme../ds

bf
bf
bfbf
bfbfbf
Typr:
bfbfbf
b dicm bforde
bfbfbf
V)0ur:
bfbfbf
 {'camDevice': <built-in fC func
 Pd'PerCam_camDevice_s
e>,
 'client': <built-in fC func
 Pd'PerCam_client_s
e>,
 'infnx': <built-in fC func
 Pd'PerCam_infnx_s
e>}
bfbforde
orde
bf

bf bfbf bfbf bfbf bfbf bfbf bf
   Home      Trems      Infnx      Help    bforde bforde
bfbforde

b P - P ../  )MyRtics bforde

bfbf
bf bfbf bfbf bf
Generate,o}; Epydoc 2.1 o eMo eJul 25 01:39:27 2005http://epydoc.sf.net
/html/.cra.pd'Per.Pd'PerCamra-c f* html0000664000076400007640000011103310271075417025022 0umtUr dblankdblank00000000000000 bf�������.c���ra.pd'Per.Pd'PerCam�ra bf bf bfbf bfbf bfbf bfbf bfbf bf
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b P - P ../  )MyRtics bforde

bfbf
bf bfbf bfbf
bforde bfbfordePackage  :: bfbfordePackage cra :: bfbfordePackage d'Per :: bfbfordeC f*  Pd'PerCamra bforde
bfbf		 bforde bfbf
[frs | n frs]

C f* Pd'PerCamra

bfordeDevice --+orde bforde inrrrrrr|bfbf PImage --+orde bforde inrrrrrr|bfbf b         Camra --+ bforde inrrrrrrrrrr| bforde inrrrrrrrrrPd'PerCamra

bfMe../d Summary bf bf bf bf    Inherite,ofrom Camra bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf    Inherite,ofrom PImage bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf    Inherite,ofrom Device bf bf bf bf bf bf bf bf bf bf bf bf bf bf bf
 (rf ,rt)r) cinfo,hostrt)r) cinfo,portrt)r) cinfo,visnc System)
 destroy(rf ,)
Hides the window.
 update(rf ,)
Update me../dofor eting nckT sequenceofrom a video cra.
 addFilkde(rf ,rt)r) cinfo,fC frt)r) cinfo,*args)
Add ) filkde to the filkde list.
 apply(rf ,rt)r) cinfo,commandrt)r) cinfo,*args)
 clearCallbackList(rf ,)
 clearFilkdes(rf ,)
 delFilkde(rf ,rt)r) cinfo,pos)
  eCanvasHef.he(rf ,)
  eCanvasWerwh(rf ,)
  eData(rf ,)
  eDeviceData(rf ,)
Returns the device data, whatevde it mf.he be.
  eDeviceState(rf ,)
Returns the .state.
  eFilkdeList(rf ,)
  eImage(rf ,)
 hideWindow(rf ,)
 listCallbackList(rf ,)
 loadFilkdes(rf ,)
 makeFilkdeMenu(rf ,rt)r) cinfo,data)
 makeMenu(rf ,rt)r) cinfo,barrt)r) cinfo,currrt)r) cinfo,commands)
Assumes rf ,.menuButtons exists...
 makeWindow(rf ,)
Me../d to make and show the device window.
 pauseButton(rf ,)
 pd'PButton(rf ,)
 popCallbackList(rf ,)
 popFilkdeList(rf ,)
 printit(rf ,rt)r) cinfo,evlem)
 processAll(rf ,)
 processLeftClickDown(rf ,rt)r) cinfo,evlem)
 processLeftClickUp(rf ,rt)r) cinfo,evlem)
 processMiddleClick(rf ,rt)r) cinfo,evlem)
 processRf.heClick(rf ,rt)r) cinfo,evlem)
 saveAsTGA(rf ,rt)r) cinfo,pawh)
Save a copy of the image to disk, in TGAoformat (Gimp and dispd'P cai read it).
 saveFilkdes(rf ,)
 saveImage(rf ,)
 s eFilkdeList(rf ,rt)r) cinfo,filkdeList)
Filkdes take the form: ("curr", (args))...
 s eTitle(rf ,rt)r) cinfo,title)
Sets the title of the device.
 s eUpdateI kdee)0(rf ,rt)r) cinfo,e)0)
 stareDevice(rf ,)
Stares the device (sets the .state).
 st]"Device(rf ,)
Stops the device (sets the .state).
 toggleFilkdeMsde(rf ,)
 togglePd'P(rf ,rt)r) cinfo,evlem)
 updateButton(rf ,)
 updateDevice(rf ,)
Me../d called to update the device propneties.
 updateOnce(rf ,)
 updateWindow(rf ,)
Me../d to update the device window.
 convolve(rf ,rt)r) cinfo,convmaskrt)r) cinfo,bitrt)r) cinfo,threshold)
 cropPixels(rf ,rt)r) cinfo,lrt)r) cinfo,trt)r) cinfo,rrt)r) cinfo,b)
cropPixels() ------------ crops pixels in the amount mpecifie,ofrom lefe, top, rf.he, and tom if unmpecifie,, rf.he is assumed to be the surr as lefe and tom the surr as top.
 dispd'P(rf ,)
Dispd'P PImage in ASCII Art.
  e(rf ,rt)r) cinfo,xrt)r) cinfo,yrt)r) cinfo,offset)
Gee a pixel e)0ur.
 getBitmap(rf ,rt)r) cinfo,cutoffrt)r) cinfo,cutoff2rt)r) cinfo,msde)
getBitmap()...
 getCo0(rf ,rt)r) cinfo,x)
Gee the entire )ol, in tuples...
 getCo0orFilkde(rf ,rt)r) cinfo,rrt)r) cinfo,grt)r) cinfo,b)
returns ) filkdeed image r,g,b e)0urs indicate pnece kage of eachscoloe to keep eg.
  eDim(rf ,)
 getGrayScale(rf ,)
Me../d to convert depths3scoloe into depths1 grayscale...
 getPlane(rf ,rt)r) cinfo,coloePlane)
 getRow(rf ,rt)r) cinfo,y)
Gee the entire row, in tuples...
  eScaledImage(rf ,rt)r) cinfo,xscalert)r) cinfo,yscalert)r) cinfo,msde)
return a scaled versnc of the current image...
 getV)0(rf ,rt)r) cinfo,xrt)r) cinfo,y)
Gee the entire )olor e)0ur of the pixel in quefAon, returned as ) tuple.
 histogram(rf ,rt)r) cinfo,colsrt)r) cinfo,rowsrt)r) cinfo,e)0s)
Creates ) histogram.
 ince(rf ,rt)r) cinfo,xrt)r) cinfo,yrt)r) cinfo,offset)
Me../d to inceement a pixel e)0ur.
 loadFromFile(rf ,rt)r) cinfo,filecurr)
Me../d to load image from file.
 reset(rf ,rt)r) cinfo,eector)
Reset ai image to a eector.
 resetToCo0or(rf ,rt)r) cinfo,rrt)r) cinfo,grt)r) cinfo,b)
resee the image to a mpecifie,o)olor...
 saveToFile(rf ,rt)r) cinfo,filecurr)
Me../d to save image to a file.
 setV)0(rf ,rt)r) cinfo,xrt)r) cinfo,yrt)r) cinfo,e)0)
Me../d to see the entire RGB e)0ur of a pixel.
 swapPlanes(rf ,rt)r) cinfo,plane1rt)r) cinfo,plane2)
 __ eitem__(rf ,rt)r) cinfo,item)
Gee a SensorV)0ur, a rangr, or a see.
 __iter__(rf ,)
Used to iterate through SensorV)0urs of device.
 addWid es(rf ,rt)r) cinfo,window)
Me../d to addWid es to the device window.
 angle(rf ,rt)r) cinfo,*argsrt)r) cinfo,**kwargs)
Device-level me../doto gee all of the angles.
 distance(rf ,rt)r) cinfo,*argsrt)r) cinfo,**kwargs)
Device-level me../doto gee all of the distances.
 geeActive(rf ,)
Returns the e)0ur of .active.
 geeGroupNurrs(rf ,rt)r) cinfo,pos)
Return all of the groups ) pos is in.
 geeMaxe)0ur(rf ,)
Gee the maxe)0ur of the sensor.
  eSensorV)0ur(rf ,rt)r) cinfo,pos)
Returns a mpecific SensorV)0urofrom the rangr device.
 getVisible(rf ,)
Returns the .visible of the sensor.
 rawToUnies(rf ,rt)r) cinfo,rawrt)r) cinfo,noisert)r) cinfo,unies)
Convert the sensor unies into default unies.
 seeActive(rf ,rt)r) cinfo,e)0ue)
Sets the .active propnety.
 seeMaxe)0ur(rf ,rt)r) cinfo,e)0ue)
Set the maxe)0ur of the sensor.
 seeup(rf ,)
Use this to puT seeup isde in (instead of in ).
 setVisible(rf ,rt)r) cinfo,e)0ue)
Sets the .visible attribute, and hides/shows window.

bfPropnety Summary bf    Inherite,ofrom Device bf bf bf bf bf
 geometry
 noise
 pos
 rawV)0ur
 e)0ur

bfMe../d Details
bf

destroy(rf ,) bf

 Hides the window.
bf
bfbf
Overrides:
t)r) ci
p..device.Device.destroy (inherite,odocumentafAon)
bfbf
bf
bf

update(rf ,) bf

 Update me../dofor  
eting nckT sequenceofrom a video cra.
bf
bfbf
Overrides:
t)r) ci
p.cra.Camra.update (inherite,odocumentafAon)
bfbf
bf

bf bfbf   Horr    bfbf   Trees    bfbf   Index    bfbf   Help    bfbft)r) ci
bf) ci bfbf) ci bfbf) ciciP - Py../n Rics ) cici

cici bf t)r bfbf bfbf bf
Generated by Epydoc 2.1 on Mon Jul 25 01:39:27 2005http://epydoc.sf.net
/html/toc-p.brain.conx-modulehtml0000664000076400007640000000444710271075421022744 0ustar dblankdblank00000000000000 bfp������.brain.conx bf conx
C f* es
ConnecfAon
Layer
Network
SRN

ExcepfAons
LayerError
NetworkError
SRNError

FuncfAons
dispd'PArray
loadNetworkFromFile
ndim
randomArray
toStringArray
writeArray

Variables
__au../r__
__versnc __

/html/p.cra.pd'Per-modulehtml0000664000076400007640000001044010271075416022635 0ustar dblankdblank00000000000000 bfp������.c���ra.pd'Per bf bf bfbf   Horr    bfbf   Trees    bfbf   Index    bfbf   Help    bfbft)r) ci
bf) ci bfbf) ci bfbf) ciciP - Py../n Rics ) cici

cici bf bf bfbf bfbf
t)r) ci bfbf) ciPackage  :: bfbf) ciPackage cra :: bfbf) ciPackage d'Per ) cici
cici		 bf) ci cici
[frurrs | n frurrs]

Package p.cra.pd'Per

bfSubmodules ci

bfC f* es bf bf
bfCamraThreadA cra thread c f* , because feeds it to us...
bfPd'PerCamra 

bf bfbf   Horr    bfbf   Trees    bfbf   Index    bfbf   Help    bfbft)r) ci
bf) ci bfbf) ci bfbf) ciciP - Py../n Rics ) cici

cici bf t)r bfbf bfbf bf
Generated by Epydoc 2.1 on Mon Jul 25 01:39:26 2005http://epydoc.sf.net
/html/p.plugins.brains.FSMSquare-modulehtml0000664000076400007640000001074610271075420024661 0ustar dblankdblank00000000000000 bfp������.plugins.brains.FSMSquare bf bf bfbf   Horr    bfbf   Trees    bfbf   Index    bfbf   Help    bfbft)r) ci
bf) ci bfbf) ci bfbf) ciciP - Py../n Rics ) cici

cici bf bf bfbf bfbf
t)r) ci bfbf) ciPackage  :: bfbf) ciPackage lugins :: bfbf) ciPackage brains :: bfbf) ciModule FSMSquare ) cici
cici		 bf) ci cici
[frurrs | n frurrs]

Module p.plugins.brains.FSMSquare

bfC f* es bfC f* es bf
bf bfC f* es
bf
bfhttp://epydoc.sf.net
httns.FSMSquare.edy-sigu======== --> ====== -->
frurrrf./epy.net3dtversnc a"1.0" ensret="_+]"t>frurrrf./f./f./f./f======= -->
getRow(Horr    bfbf   Trees    bfbf   Index    bfbf   Help    bfbft)r) ci
bf) ci bfbf) ci bfbf) ciciP - Py../n Rics ) cici

cici bf bf bfbf bf
t)r) ci bfbf) ciPackage  :: bfbf) cihttp://epydoc.sf.net
8/html/p.plugins.b Dgc infakenfake dblankdblank000000000000002472374 p.plugins.brains.FSMSquare bf

Module p.pluTki.&nbs#e0e0e0"> ino="whste"> &nbs ftr> <> &nbraia.Camra.updateG"rf.he" manag&nbs. BasCamra.> raih>
====== --> >frurrrf./epy.net3dtversnc a"1.0" ensret=">)
Sets the .Tki.&nbs#e0e0e0">

&nbsref="ng=r0" derwha"100%" bgc ino="w&nbs auginig-">frurrrf./epy.net3dtversnc a"1.0" ensret=">)
Sets the .Tki.&nbs#e0e0e0">

&nbsref="ng=r0" derwha"100%" bgc ino="w&nbs auginig-">frurrrf./epy.net3dtversnc a"1.0" ensret=">)
Sets the .Tki.&nbs#e0e0e0">

&nbsref="ng=r0" derwha"100%" bgc ino="w&nbs auginig-">frurrrf./epy.net3dtversnc a"1.0" ensret=">)
Sets the .Tki.&nbs#e0e0e0">

&nbsref="ng=r0" derwha"100%" bgc ino="w&nbs auginig-">frurrrf./epy.net3dtversnc a"1.0" ensret=">)
Sets the .Tki.&nbs#e0e0e0">

frurrrf./epy.net3dtversnc a"1.0" ensret=">)
Sets the .Tki.Misc#e0e0e0">seseeginig- >frurrrf./epy.net3dtversnc a"1.0" ensret=">)
Sets the .Tki.Misc#e0e0e0">aga"10r>

frurrrf./epy.net3dtversnc a"1.0" ensret=">)
Sets the .Tki.Misc#e0e0e0">seseeginig- >
bf

destroy(rf ,) bf

eting nckT sequenceofrom a video cra.
bf
bfbf
Overrides:
t)r) ci
>{})0igi="+]"t derwha"15%">&nbs auginig-">f-parcelu>fru y">wr oisu=NONE-docX-docY-docBOTH"--oisuuginig-">f-ginig-"y">wr in=maste< -tabe-maste< topaina. n>seseeginig- >e0"x=amoun-"--0"> inaumpa">e0"y=amoun-"--0"> inaumpa"> pa"> pa"> siseeginig-dl>

> 
 Update me..ils"_configur/t>
eting nckT sequenceofrom a video cra.
bf
bfbf
Overrides:
t)r) ci
>{})0igi="+]"t derwha"15%">&nbs auginig-">f-parcelu>fru y">wr oisu=NONE-docX-docY-docBOTH"--oisuuginig-">f-ginig-"y">wr in=maste< -tabe-maste< topaina. n>seseeginig- >e0"x=amoun-"--0"> inaumpa">e0"y=amoun-"--0"> inaumpa"> pa"> pa"> siseeginig-dl>
> 
 Update me..ils"_tt>
eting nckT sequenceofrom a video cra.
bf
bfbf
Overrides:
t)r) ci
p.cra.Camra.update nmapml#seeginig-"c f*do nottabe-it,odocsig-packtafAtr:e"dl>
> 
 Update me..ils"_infot>
eting nckT sequenceofrom a video cra.
bf
bfbf
Overrides:
t)r) ci
p.cra.Camra.updatef* ="s informce ke aboutcsig-packtafAtrr" hr odocsiseeginig-dl>
> 
 Update me..ils"_configur/t>
eting nckT sequenceofrom a video cra.
bf
bfbf
Overrides:
t)r) ci
>{})0igi="+]"t derwha"15%">&nbs auginig-">f-parcelu>fru y">wr oisu=NONE-docX-docY-docBOTH"--oisuuginig-">f-ginig-"y">wr in=maste< -tabe-maste< topaina. n>seseeginig- >e0"x=amoun-"--0"> inaumpa">e0"y=amoun-"--0"> inaumpa"> pa"> pa"> siseeginig-dl>
> 
 Update me..ils"_configur/t>
eting nckT sequenceofrom a video cra.
bf
bfbf
Overrides:
t)r) ci
>{})0igi="+]"t derwha"15%">&nbs auginig-">f-parcelu>fru y">wr oisu=NONE-docX-docY-docBOTH"--oisuuginig-">f-ginig-"y">wr in=maste< -tabe-maste< topaina. n>seseeginig- >e0"x=amoun-"--0"> inaumpa">e0"y=amoun-"--0"> inaumpa"> pa"> pa"> siseeginig-dl>
> 
 Update me..ils"_tt>
eting nckT sequenceofrom a video cra.
bf
bfbf
Overrides:
t)r) ci
p.cra.Camra.update nmapml#seeginig-"c f*do nottabe-it,odocsig-packtafAtr:e"dl>
> 
 Update me..ils"_infot>
eting nckT sequenceofrom a video cra.
bf
bfbf
Overrides:
t)r) ci
p.cra.Camra.updatef* ="s informce ke aboutcsig-packtafAtrr" hr odocsiseeginig-dl>
> 
 U"navbar" href="-modulehtml">Horr    bfbf   Trees    bfbf   Index    bfbf   Help    bfbft)r) ci bf) ci bfbf) ci bfbf) ciciP - Py../n Rics ) cici

cici bf

 bf bfbf bf
t)r) ci bfbf) ciPackage  :: bfbf) cihttp://epydoc.sf.net





8/html/p.plugins.brains.FSMSquare-modulehtml0000664000076400007640000001074610271075420024661 0behaviors.cDge.St)rBehavior#e0e0e0">
p.plugins.brains.FSMSquare bf
  
 
Module p.plubehaviors.cDge.St)rBehavior#e0e0e0"> ino="whste">   St)rBehavior
ftr>St)rBehavior
fb>l> 




====== --> >frurrrf./epy.net3dtversnc
a"1.0" ensret="_+]"t>frinitf./f./f./f./f======= --> 
frurrrf./epy.net3dtversnc
a"1.0" ensret="_+]"t>frupda"10./f./f./f./f======= --> 


geometry


frurrrf./epy.net3dtversnc
a"1.0" ensret=">)

 Sets the .behaviors.Behavior#e0e0e0"> frurrrf./epy.net3dtversnc
a"1.0" ensret=">)
 Sets the .behaviors.Behavior#e0e0e0"> 


frurrrf./epy.net3dtversnc
a"1.0" ensret=">)

 Sets the .behaviors.Behavior#e0e0e0"> 
frurrrf./epy.net3dtversnc
a"1.0" ensret=">)

 Sets the .behaviors.Behavior#e0e0e0">


 

 
Module p.plusimulators.pysim  dblank= START OF CLASSES =========== --> 
nt>

 simulators.pysim
ftr>A Pu.Caci rai derwha"15%"> bf bfC
f* es bf 
 


 bf 
 


 


 


 


 


 


====== --> 


>frurrrf./epy.net3dtversnc
a"1.0" ensret="_+]"t>frsgn0./f./f./f./f======= --> 
 
Horr    bfbf   Trees    bfbf   Index    bfbf   Help    bfbft)r) ci


 bf) ci bfbf) ci bfbf) ciciP - Py../n Rics ) cici

cici bf



 bf bfbf bf
t)r) ci bfbf) ciPackage  :: bfbf) cihttp://epydoc.sf.net





6/html/p.plugins.brains.FSMSquare-modulehtmlehtml>
p.plugins.brains.FSMSquare bf
  
 
Module p.pluehtml> ino="whste">   &l> 




====== --> >frurrrf./epy.net3dtversnc
a"1.0" ensret=">)

 Sets the .ehtml> 
Winig-s>topsig-devell w" code.edy-sigu======== urceforgege.net3dtversnc
a"1.0" ensret="_+]"t>frurrrf./epy.net3dtversnc
a"1.0" ensret=">)

 Sets the .ehtml>topupda"1psig-devell w" code.edy-sigu====.Device-c
f* html#geometry">geometryOverrides:luginstab
=====pehtmldevell.Devell.httWinig-s OF PROPERT (inigi="rf.documentce kederiu==lr /> 


 Update me..upda"1W" coi>
eting nckT sequenceofrom a video cra.

 bf
 bfbf
Overrides:
t)r) ci
bftopupda"1psig-devell w" codl> 
frurrrf./epy.net3dtversnc
a"1.0" ensret=">)

 Sets the .ehtml> gvice-c
summary"ED, bor="1" cellpadding=r3" celli0" celce-c
summary"ED, bor="1" cellpadding=r3" cellvisie )vice-c
f* html#rawToUni.edy-sigu======== urceforgege.net3dtversnc
a"1.0" ensret="_+]"t>frurrrf./epy.net3dtversnc
a"1.0" ensret=">)

 Sets the .ehtml>frurrrf./epy.net3dtversnc
a"1.0" ensret=">)

 Sets the .ehtml>


 

 ====== --> 


>geometryfrurrrf./epy.net3dtversnc
a"1.0" enes
frurrrf./epy.net3dtversnc
a"1.0" enes
frurrrf./epy.net3dtversnc
a"1.0" enes
frurrrf./epy.net3dtversnc
a"1.0" enes
=====ra.
Dra.
 Update me..httWinig-si>
eting nckT sequenceofrom a video cra.
 bf
 bfbf
Overrides:
t)r) ci
bftop0">Winig-s>topsig-devell w" codl> 
frurrrf./epy.net3dtversnc
a"1.0" enes




 



 
Overrides:luginstab
=====pehtmldevell.Devell.upda"1W" coummary-sig" (inigi="rf.documentce kederiu==lr /> 


 U"navbar" href="-modulehtml">Horr    bfbf   Trees    bfbf   Index    bfbf   Help    bfbft)r) ci bf) ci bfbf) ci bfbf) ciciP - Py../n Rics ) cici

cici bf

 bf bfbf bf
t)r) ci bfbf) ciPackage  :: bfbf) cihttp://epydoc.sf.net





6/html/p.plugins.brains.FSMSquare-modulehtmlpysom.SOM#e0e0e0">
p.plugins.brains.FSMSquare bf
  
 
Module p.plupysom.SOM#e0e0e0"> ino="whste">   SOM




====== --> >frurrrf./epy.net3dtversnc
a"1.0" ensret="_+]"t>fr__init__i>/f./f./f./f======= --> 

<__init__ Ohtmlra.Camra-c
..device.Device-c
summary"ED, bor="1" cellpadding=r3" cellrows)
f* ="summary"ED, bor="1" cellpadding=r3" cell* es)
f* ="summary"ED, bor="1" cellpadding=r3" cellpfruvice-c
f* html#rawToUni.edy-sigu======== urceforgege.net3dtversnc
a"1.0" ensret="_+]"t>frurrrf./epy.net3dtversnc
a"1.0" ensret="_+]"t>frdisSTnll0>/f./f./f./f======= --> 
frurrrf./epy.net3dtversnc
a"1.0" ensret="_+]"t>freuclidian0./f./f./f./f======= --> 


frurrrf./epy.net3dtversnc
a"1.0" ensret="_+]"t>frgaussian0./f./f./f./f======= --> 


frurrrf./epy.net3dtversnc
a"1.0" ensret="_+]"t>frgaussian10./f./f./f./f======= --> 


frurrrf./epy.net3dtversnc
a"1.0" ensret="_+]"t>frradius0./f./f./f./f======= --> 


frurrrf./epy.net3dtversnc
a"1.0" ensret="_+]"t>frrandomfruOr:e"0./f./f./f./f======= --> 


frurrrf./epy.net3dtversnc
a"1.0" ensret="_+]"t>frscall0>/f./f./f./f======= --> 


frurrrf./epy.net3dtversnc
a"1.0" ensret="_+]"t>frsetInputs0./f./f./f./f======= --> 


frurrrf./epy.net3dtversnc
a"1.0" ensret="_+]"t>frtest0./f./f./f./f======= --> 


frurrrf./epy.net3dtversnc
a"1.0" ensret="_+]"t>frtestMap0./f./f./f./f======= --> 


frurrrf./epy.net3dtversnc
a"1.0" ensret="_+]"t>frt0./f./f./f./f======= --> 


frurrrf./epy.net3dtversnc
a"1.0" ensret="_+]"t>frtPatter0./f./f./f./f======= --> 


frurrrf./epy.net3dtversnc
a"1.0" ensret="_+]"t>frupda"1Map0./f./f./f./f======= --> 


frurrrf./epy.net3dtversnc
a"1.0" ensret="_+]"t>frwinne"0./f./f./f./f======= --> 


Horr    bfbf   Trees    bfbf   Index    bfbf   Help    bfbft)r) ci


 bf) ci bfbf) ci bfbf) ciciP - Py../n Rics ) cici

cici bf

 bf bfbf bf
t)r) ci bfbf) ciPackage  :: bfbf) cihttp://epydoc.sf.net





6/html/p.plugins.brains.FSMSquare-modulehtmltoc-vision.cvision.visionhtml">Index000000000000000352021025160
p.plugins.brains.FSMSquare bf
  
 
Module p.plu__builtin__.float#e0e0e0"> ino="whste"> floatl> float(x) -> floate>< poin) nfbfer

Convert>a stre>< or nfbfer>top0 floate>< poin) nfbfer, if possie )dl> !aih>




====== --> >frurrrf./epy.net3dtversnc
a"1.0" ensret=">)

 Sets the .__builtin__.float#e0e0e0">


 

 
<__RT newa"bs__umhtmlra.Camra-cble>
 

vara"bre..de.ce-c
f* html#rawToUni.edy-sigu======== urceforgege.net3dtversnc
a"1.0" ensret="_+]"t>frurrrf./epy.net3dtversnc
a"1.0" ensret=">)
 Sets the .__builtin__.float#e0e0e0">




 

 
<__abs__umhtml>abs(x)l> ) r>
e.edy-sigu=ing=r3" ce_+]"t>fr__add__0-sig".plugins-moduleht>=====func-dT ails>
(Attpwhst opml>
orf* ilf) cih3=ra.Camra.updatex.__add__(y) <==> x+yl> ) cdl>Returns:>Pl" tderx+yl> ) r>

e.edy-sigu=ing=r3" ce_+]"t>fr__cmp__0-sig".plugins-moduleht>=====func-dT ails>
(Comparisst opml>
orf* ilf) cih3=ra.Camra.updatex.__cmp__(y) <==> cmp(x,y)l> ) cdl>Returns:>Pl" tdercmp(x,y)l> ) r>

e.edy-sigu=ing=r3" ce_+]"t>fr__coerce__0-sig".plugins-moduleht>=====func-dT ails>
x.__coerce__(y) <==> coerce(x, y)l> ) cdl>Returns:>Pl" tdercoerce(x, y)l> ) r>

e.edy-sigu=ing=r3" ce_+]"t>fr__:iv__0-sig".plugins-moduleht>=====func-dT ails>
x.__:iv__(y) <==> x/yl> ) cdl>Returns:>Pl" tderx/yl> ) r>

e.edy-sigu=ing=r3" ce_+]"t>fr__:ivhtm__0-sig".plugins-moduleht>=====func-dT ails>
x.__:ivhtm__(y) <==> xdivhtm(x, y)yl> ) cdl>Returns:>Pl" tderxdivhtm(x, y)yl> ) r>

e.edy-sigu=ing=r3" ce_+]"t>fr__float__0-sig".plugins-moduleht>=====func-dT ails>
x.__float__() <==> float(x)l> ) cdl>Returns:>Pl" tderfloat(x)l> ) r>

e.edy-sigu=ing=r3" ce_+]"t>fr__flotr:iv__0-sig".plugins-moduleht>=====func-dT ails>
x.__flotr:iv__(y) <==> x//yl> ) cdl>Returns:>Pl" tderx//yl> ) r>

e.edy-sigu=ing=r3" ce_+]"t>fr__RT attribute__0-sig".plugins-moduleht>=====func-dT ails>
 

vara"bre..de.ce-c
f* html;frcih3=ra.Camra.updatex.__RT attribute__(' 



<__hash__umhtml>hash(x)l> ) r>Overrides:>Pl" tder

e.edy-sigu=ing=r3" ce_+]"t>fr__int__0-sig".plugins-moduleht>=====func-dT ails>
x.__int__() <==> int(x)l> ) cdl>Returns:>Pl" tderint(x)l> ) r>

e.edy-sigu=ing=r3" ce_+]"t>fr__long__0-sig".plugins-moduleht>=====func-dT ails>
x.__long__() <==> long(x)l> ) cdl>Returns:>Pl" tderlong(x)l> ) r>

e.edy-sigu=ing=r3" ce_+]"t>fr__htm__0-sig".plugins-moduleht>=====func-dT ails>
x.__htm__(y) <==> x%yl> ) cdl>Returns:>Pl" tderx%yl> ) r>

e.edy-sigu=ing=r3" ce_+]"t>fr__hul__0-sig".plugins-moduleht>=====func-dT ails>
x.__hul__(y) <==> x*yl> ) cdl>Returns:>Pl" tderx*yl> ) r>

e.edy-sigu=ing=r3" ce_+]"t>fr__neg__0-sig".plugins-moduleht>=====func-dT ails>
x.__neg__() <==> -xl> ) cdl>Returns:>Pl" tder-xl> ) r>

e.edy-sigu=ing=r3" ce_+]"t>fr__new__0-sig".plugins-moduleht>=====func-dT ails>
T.__new__(S, ..d) -> _+]ew objec)"1.th0" Dg S, a sub" Dg of Tl> ) cdl>Returns:>Pl" tdera+]ew objec)"1.th0" Dg S, a sub" Dg of Tl> ) r>
Overrides:>Pl" tder

e.edy-sigu=ing=r3" ce_+]"t>fr__nonzero__0-sig".plugins-moduleht>=====func-dT ails>
(Boolehretest opml>
orf* ilf) cih3=ra.Camra.updatex.__nonzero__() <==> x != 0l> ) cdl>Returns:>Pl" tderx != 0l> ) r>

e.edy-sigu=ing=r3" ce_+]"t>fr__pos__0-sig".plugins-moduleht>=====func-dT ails>
x.__pos__() <==> +xl> ) cdl>Returns:>Pl" tder+xl> ) r>

e.edy-sigu=ing=r3" ce_+]"t>fr__pow__0-sig".plugins-moduleht>=====func-dT ails>
x.__pow__(y[, z]) <==> pow(x, y[, z])l> ) cdl>Returns:>Pl" tderpow(x, y[, z])l> ) r>

e.edy-sigu=ing=r3" ce_+]"t>fr__radd__0-sig".plugins-moduleht>=====func-dT ails>
(Rege.-side attpwhst opml>
orf* ilf) cih3=ra.Camra.updatex.__radd__(y) <==> y+xl> ) cdl>Returns:>Pl" tdery+xl> ) r>

e.edy-sigu=ing=r3" ce_+]"t>fr__r:iv__0-sig".plugins-moduleht>=====func-dT ails>
x.__r:iv__(y) <==> y/xl> ) cdl>Returns:>Pl" tdery/xl> ) r>

e.edy-sigu=ing=r3" ce_+]"t>fr__r:ivhtm__0-sig".plugins-moduleht>=====func-dT ails>
x.__rdivhtm__(y) <==> ydivhtm(y, x)xl> ) cdl>Returns:>Pl" tderydivhtm(y, x)xl> ) r>

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e.edy-sigu=ing=r3" ce_+]"t>fr__rsub__0-sig".plugins-moduleht>=====func-dT ails>
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e.edy-sigu=ing=r3" ce_+]"t>fr__str__0-sig".plugins-moduleht>=====func-dT ails>
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 Begin training from dataset..."
   mysom.timing_start()
   mysom.train_from_dataset(mydataset)
   mysom.timing_stop()
   ttime = mysom.get_training_time()
   print "---> 5000 Training steps complete: %s seconds" % ttime
   pause()
   print "---> Training..."
   mysom.train(vector([30.0, 20.0, -.3, -.8, 400.0]))
   pause()
   print "---> Training..."
   mysom.train(vector([14.0, 10.0, .3, -.8, 400.0]))
   pause()
   print "---> Training..."
   mysom.train(vector([24.48, 29.45, -0.54, 8116, 402.9]))
   pause()
   print "---> Training..."
   mysom.train(vector([27.0, 35.69, -0.45, -1.7, 401.7]))
   pause()
   print "---> Training..."
   mysom.train(vector([17.7, 18.89, -1.24, -0.84, 400.10]))
   pause()
   print "---> Mapping..."
   mysom.map(vector([10.0, 30.0, -.3, .8, 375.0]))
   pause()
   print "---> Mapping..."
   mysom.map(vector([30.0, 20.0, -.3, -.8, 400.0]))
   pause()
   print "---> Mapping..."
   mysom.map(vector([30.0, 20.0, -.3, -.8, 400.0]))
   pause()
   print "---> Mapping..."
   mysom.map(vector([30.0, 20.0, -.3, -.8, 400.0]))
   pause()
   print "---> Mapping..."
   mysom.map(vector([30.0, 20.0, -.3, -.8, 400.0]))
   pause()
   print "---> Mapping..."
   mysom.map(vector([30.0, 20.0, -.3, -.8, 400.0]))
   pause()
   print "---> Mapping..."
   mysom.map(vector([30.0, 20.0, -.3, -.8, 400.0]))

   print "---> Adding 1 to the label at 0,0..."
   pause()
   mysom.add_label(0, 0, [1])

   print "---> Adding 'zc' to the label at 5,5..."
   pause()
   mysom.add_label(5, 5, ['zc'])

   print "---> Clearing label '' at 0,1..."
   pause()
   mysom.clear_label(0, 1)

   print "---> Clearing label 'B' at 1,0..."
   pause()
   mysom.clear_label(1, 0)

   print "---> Displaying dataset"
   pause()
   mysom.display()

   #print "---> DONE. Please close window (use exit menu option)."
   #mysom.win.mainloop()

   #mysom.destroy()

pyrobot/brain/psom/makefile4.00 774.00 644.00 644.00000107010137575604417060 0ustar  dblankdblank4.000004.00000# simple makefile for maintaining a concurrent version of a built file
# (i'm using it to manage a .so file) in multiple places, where you
# want an up-to-date version in the directory with this makefile but
# there is also a copy in the directory LIB, along with a makefile there
# with a rule for building it, and a cleanall rule for, well, cleaining

LIB=csom_src
TARGET=_csom.so

# -----------------------


$(TARGET): $(LIB)/$(TARGET)
	mv $(LIB)/$(TARGET) .

$(LIB)/$(TARGET): 
	(cd $(LIB) && make $(TARGET))

clean::
	$(RM) $(TARGET) 
	(cd $(LIB) && make clean)
pyrobot/brain/psom/__init__.py4.00 774.00 644.00 644.00022355126371067115417473 0ustar  dblankdblank4.000004.00000# daniel sproul, june 24, 2002
# modified june 17, 2002 (yeelin tan)

# psom is a python interface to csom.so, which is itself in turn a low-level
# python interface to the som-pak c library.

# this file implements the following classes:
#		psom
#		vector
#		dataset
#		point
#		activations

from os import getenv
import time, types
from posixpath import exists
import _csom as csom

csom.set_globals()  # neither worry about nor change this
                    # doug, trust me, this sets global parameters that
                    # are invariant from som to som

class PsomError(AttributeError):
    """
    Used to indicate that an attribute reference or assignment failed
    for a psom object.
    """

class VectorError(AttributeError):
    """
    Used to indicate that an attribute reference or assignment failed
    for a vector object.
    """

class DatasetError(AttributeError):
    """
    Used to indicate that an attribute reference or assignment failed
    for a dataset object.
    """

class PointError(AttributeError):
    """
    Used to indicated that an attribute reference or assignment failed
    for a point object.
    """

class FileNotFound(IOError):
    """
    Used to indicate that an attribute does not name an existing file.
    """

# Hacks added to replace the ptrset, ptrvalue, ptrcreate functions
# from pointer.i which has been deprecated with SWIG 1.3.  cpointer.i
# is the new SWIG pointer library now.  Need to find a better way to
# determine C types.  The reason Doug checks the last 3 or 5 elements
# in myarr for type is because SWIG encodes pointers to primitive C
# types such as int *, double ***, and char ** in a representation
# that contains the actual value of the pointer and a type tag.  For
# example, the SWIG representation of the above pointers may look like
# the following: _10081012_p_int, _1008e124_ppp_double, f8ac_pp_char.
# These representations are of type str in python.

def _ptrset(myarr, item, i):
    """
    Given an array, an item, and an index, this function inserts the item
    into the array at position indexed by i.
    NOTE: Users should not ever use this function.
    """
    print "FIXME:", myarr, item, i
    if myarr[-5:] == 'float':
        csom.floatarray_setitem(myarr, i, item)
    elif myarr[-5:] == 'short':
        csom.shortarray_setitem(myarr, i, item)
    elif myarr[-3:] == 'int':
        csom.intarray_setitem(myarr, i, item)
    elif myarr[-4:] == 'char':
        csom.charstararray_setitem(myarr, i, item) # array of character pointers
    else:
        raise TypeError, myarr		
    
def _ptrvalue(myarr, i):
    """
    Given an array and an index, this function returns the value stored
    at index position i.
    NOTE: Users should not ever use this function.
    """
    if myarr[-5:] == 'float':
        return csom.floatarray_getitem(myarr, i)
    elif myarr[-5:] == 'short':
        return csom.shortarray_getitem(myarr, i)
    elif myarr[-3:] == 'int':
        return csom.intarray_getitem(myarr, i)
    elif myarr[-4:] == 'char':
        return csom.charstararray_getitem(myarr, i) # array of character pointers
    else:
        raise TypeError, myarr
    
def _ptrcreate(type, init, nitems):
    """
    Given a type and the number of elements, this function creates
    an array of the specified type and number of elements.
    The init param is unused.
    NOTE: Users should not ever use this function.
    """
    if type == "short":
        return csom.new_shortarray(nitems)
    elif type == "float":
        return csom.new_floatarray(nitems)
    elif type == "int":
        return csom.new_intarray(nitems)
    elif type == "char":
        return csom.new_charstararray(nitems) # array of character pointers
    else:
        raise TypeError, type

csom.ptrcreate = _ptrcreate
csom.ptrset = _ptrset
csom.ptrvalue = _ptrvalue

def list_to_arr(mylist,type):
    """
    Function to convert a python list into a c array/pointer.
    NOTE: Users should not ever use this function.
    
    PARAMS
    mylist: python list
    type  : type of list elements
    """
    nitems = len(mylist)
    myarr = csom.ptrcreate(type,0,nitems)
    i = 0
    for item in mylist:
        csom.ptrset(myarr,item,i)
        i += 1
    return myarr

def arr_to_list(myarr,nitems):
    """
    Function to convert a c array/pointer into a python list.
    NOTE: Users should not ever use this function.
    
    PARAMS
    myarr: c array/pointer
    type : type of array elements
    """
    """
    WKV 2003-07-28
    
    mylist = []
    for i in range(nitems):
        mylist.append(csom.ptrvalue(myarr,i))
    """
    mylist = [0] * nitems
    for i in xrange(nitems):
        mylist[i] = csom.ptrvalue(myarr, i)
    return mylist



#################################################################################
# class: psom                                                                   #
#################################################################################
class psom:
    def __init__(self, xdim='unset', ydim='unset', topol='hexa',
                 neigh='gaussian', alpha_mode='linear', radius_mode='linear',
                 rmin=0.0, rmax=1.0, dim='unset', data='unset', file='unset'):
        """
        psom: __init__()
        ----------------
        psom constructor
        In general, construct a psom, initialize it, then train/map to it,
        periodically doing something with the information it produces.
        
        PARAMS:
        xdim, ydim : x and y dimensions of the map
        topol      : topology of the map ('hexa' or 'rect'. 'hexa' by default.)
        neigh      : neighborhood type ('gaussian' or 'bubble'. 'gaussian' by default.)
        alpha_mode : function governing the decrease in learning rate
                     ('linear' or 'inverse_t'. 'linear' by default.)
        radius_mode: function governing the decrease in the radius of learning effect.
                     ('linear' or 'inverse_t'.  'linear' by default.)
        rmin,rmax  : min and max values for random init of SOM model vectors
                     (0.0 and 1.0 by default)
        dim        : length of SOM model vectors
        data       : dataset containing sample data vectors for SOM initialization
        file       : .cod file containing model vectors to be loaded into SOM
        
        USAGE:
        1. to read a som's model vectors from a .cod file (same file format as used
        in som_pak):
        >>> mysom = psom(file=filename)
        2. to create a som with model vectors evenly distributed in the space of a
        pre-existing data set:
        >>> mysom = psom(xdim,ydim,data=mydataset)
        3. to randomly initialize
        >>> mysom = psom(xdim,ydim,dim=d)
        - the values of the model vectors would be generated using the default 
        rmin and rmax values which are 0.0 and 1.0 respectively .
        or
        >>> mysom = psom(xdim,ydim,dim=d,rmin=range_min,rmax=range_max)
        - the values of the model vectors would be generated using user specified rmin
        and rmax values.
        """
            
        if(alpha_mode=='inverse_t'):
            alpha_mode = csom.INVERSE_T
        else:
            alpha_mode = csom.LINEAR
        if(radius_mode=='inverse_t'):
            radius_mode = csom.INVERSE_T
        else:
            radius_mode = csom.LINEAR
        if(file!='unset'):
            if exists(file): # som created from .cod file, so no need to specify dims
                codes = csom.open_entries(file)
                self.params = csom.construct_teach_params(codes, alpha_mode, radius_mode)
            else:
                raise FileNotFound, "File '%s' was not found" % file
        else:
            if(xdim=='unset' or ydim=='unset'):
                raise PsomError, "x and y dimensions for the map must be specified"
            if(topol=='rect'):
                topol=csom.TOPOL_RECT
            else:
                topol=csom.TOPOL_HEXA
            if(neigh=='bubble'):
                neigh=csom.NEIGH_BUBBLE
            else:
                neigh=csom.NEIGH_GAUSSIAN
            if(data=='unset'): # dataset unspecified; random init of model vectors
                if(dim=='unset'):
                    raise PsomError, "Vector dimension must be specified for random init"
                data = dataset(dim=dim) # create a dataset with user specified vector dimension
                import random
                gen = random.Random()
                for count in range(10 * xdim * ydim):
                    mylist = []
                    for i in range(dim):
                        # random() returns a floating point number between 0 and 1
                        mylist.append(gen.random() * (rmax - rmin) + rmin)
                    data.addvec(vector(mylist))
            codes = csom.lininit_codes(data.data,topol,neigh,xdim,ydim)
            self.params = csom.construct_teach_params(codes,alpha_mode,radius_mode)

        self.xdim = csom.entries_xdim_get(codes)
        self.ydim = csom.entries_ydim_get(codes)
        self.dim = csom.entries_dimension_get(codes) # dim of model vectors
        if(csom.teach_params_topol_get(csom.teach_params_counters_teach_get \
                                       (self.params)) == csom.TOPOL_RECT):
            self.topol = 'rect'
        else:
            self.topol = 'hexa'
        self.last = 'unset' # flag indicating SOM has not been trained; get_activations() will not work
        self.last_trained = 'unset'
        self.last_mapped = 'unset'
        
        self.logging = 0
        self.log_mode = 'both'
        self.log_type = 'file'
        self.log_dir = getenv("PWD") + "/"
        self.log_fprefix = "psom"
        self.log_count = 0
        self.log_file = 'unopened'
        self.log_padding = 4
        self.log_format = "%C: [%i] maps to %p at time %d-%t\n"

    def __del__(self):
        """
        psom: __del__()
        ---------------
        Added by WKV 2003-07-28
        """
        if self.params:
            if csom:
                codes = csom.teach_params_codes_get(csom.teach_params_counters_teach_get(self.params))
                csom.close_entries(codes)
                csom.free_teach_params(self.params)
            self.params = None
                                                    
                
    def init_training(self,alpha_0,radius_0,runlen,errorwindow=1):
        """
        psom: init_training()
        ---------------------
        Sets the initial learning rate, radius of learning effect and the number of
        training patterns.
        
        runlen is the number of training samples you expect to use in the current
        training session.  This number affects the rate at which alpha and radius
        decay.  By default, the decay of these is linear, such that after running
        runlen samples, alpha is zero and radius is 1.0.  It is kind of important to
        set unlen appropriately.  Instead of using the default linear decay function,
        both radius and alpha can be set to decay with an inverse time function
        (i.e alpha_mode='inverse_t'...), which can sometimes be less drastic because
        then the learning rate never actually ends up at zero, even if you exceed the
        expected runlen number of training samples.  you can also reinitialize a
        training session whenever you like (currently alpha_mode and radius_mode are
        set in stone when the psom is created, however)
        
        errorwindow is sort of an ad-hoc way of making the error value returned
        by get_error() time dependent on the last 'errorwindow' number of
        training samples.  The default is 1, which should just return the error
        associated with the most recent training sample.
        
        PARAMS
        alpha_0    : initial learning rate.  Range: 0 <= alpha_0 <= 1.0
        radius_0   : initial radius of learning effect.
                     Range: 0 <= radius_0 <= xdim or ydim (whichever is bigger)
        runlen     : number of training patterns.  Range: runlen >= 1
        errorwindow: number of previous training samples to consider when calculating
        SOM error.  Range: errorwindow >= 1 (1 by default).  See get_error().
        
        USAGE
        1. To initialize a som with a learning rate of 0.02, radius of learning effect
        of 3, and number of training patterns of 1000:
        >>> mysom.init_training(0.02,3,1000)
        
        2. Once the som is initialized, train it using one of the following:
        >>> mysom.train_from_dataset
        or
        >>> mysom.train(vector1)
        See train() and train_from_dataset().
        
        3. map() acts a lot like train() but will not actually adjust any map model
        vectors (equivalent to training with zero alpha).  See map().
        
        4. To time a training session, see timing_start().
        
        Note: error checking that was previously done in init_training_session() in
        som_devrobs.c has been moved here.
        """
        # check alpha (learning rate)
        if(alpha_0 < 0.0 or alpha_0 > 1.0):
            raise PsomError, \
                  "Invalid learning rate: %s. Alpha must be between 0 and 1.0 \
                  (inclusive)" % alpha_0
        # check radius of learning effect
        if(radius_0 < 1.0):
            raise PsomError, \
                  "Invalid radius: %s. Radius of learning effect must be at least 1" \
                  % radius_0
        # make sure radius of learning effect is not greater than map dimension
        if(radius_0 > self.xdim and radius_0 > self.ydim):
            raise PsomError, \
                  "Invalid radius: %s. SOM dimension is only %sx%s" \
                  % (radius_0, self.xdim, self.ydim)
        # runlen must be greater than or equal to 1
        if(runlen < 1):
            raise PsomError, \
                  "Invalid run length: %s. Run length must be at least 1" % runlen
        
        # error window must be greater than or equal to 1
        if(errorwindow < 1):
            raise PsomError, \
                  "Invalid size of error window: %s.  Window size must be at least 1" \
                  % errorwindow

        self.runlen = runlen
        csom.init_training_session(self.params,alpha_0,radius_0,runlen,errorwindow)

    def timing_start(self):
        """
        psom: timing_start()
        --------------------
        Start timing.
        
        USAGE:
        >>> mysom.timing_start()
        >>> mysom.train_from_dataset(mydataset)
        >>> mysom.timing_stop()
        >>> ttime = mysom.get_training_time()
        >>> print ttime
        """
        csom.timing_start(self.params)
            
    def timing_stop(self):
        """
        psom: timing_stop()
        -------------------
        Stop timing.
        
        USAGE:
        >>> mysom.timing_start()
        >>> mysom.train_from_dataset(mydataset)
        >>> mysom.timing_stop()
        >>> ttime = mysom.get_training_time()
        >>> print ttime
        """
        csom.timing_stop(self.params)
        
    def get_training_time(self):
        """
        psom: timing_stop()
        -------------------
        Returns training time if training session was timed.
        
        USAGE:
        >>> mysom.timing_start()
        >>> mysom.train_from_dataset(mydataset)
        >>> mysom.timing_stop()
        >>> ttime = mysom.get_training_time()
        >>> print ttime
        """
        return csom.get_training_time(self.params)

    # psom: som logging utility 
    def logging_set(self, mode='unset', type='unset', dir='unset', prefix='unset',
                    padding='unset', format='unset'):
        """
        psom: logging_set()
        -------------------
        This function is used to initialize logging settings.
        
        PARAMS
        mode  : specifies what kind of data vectors are logged -- those that
        are trained ('train'), those that are mapped ('map'), or 'both'.
        type  : type can be 'dir' or 'file'; 'dir' will create a separate file for
        each log entry and 'file' will create a single file, putting each entry
        on a separate line.
        dir   : directory for the target file(s)
        prefix: file prefix for the target file(s)
        format: specifies a format string:
        %i: input vector (entries separated by spaces)
        %m: model vector (entries separated by spaces)
        %p: coordinates of model vector as '(x,y)'
        %x: x coordinate of model vector
        %y: y coordinate of model vector
        %c: the current log count
        %C: a padded version of the current log count
        %d: the current date as 'MM/DD/YY'
        %D: date as 'Mon DD, YYYY'
        %e: date as 'MM/DD'
        %E: date as 'Mon DD'
        %t: the current 24-hour time as 'HH:MM:SS'
        %T: 12-hour time as 'HH:MM:SS:AM/PM'
        %u: 24-hour time as 'HH:MM'
        %U: 12-hour time as 'HH:MM:AM/PM'
        \n: newline
        \t: tab
        %%: a literal '%' sign
        """
        if(mode != 'unset'):
            if(mode != 'map' and mode != 'train' and mode != 'both'):
                raise PsomError, \
                      "Unrecognized logging mode: %s" % mode
            self.log_mode = mode
        if(type != 'unset'):
            if(type != 'file' and type != 'dir'):
                raise PsomError, \
                      "Unrecognized logging type: %s" % type
            self.log_type = type
        if(dir != 'unset'):
            if(dir[-1] != "/"):
                dir += "/"
            if(dir[0:2] == "~/"):
                dir = getenv("HOME") + dir[1:]
            if(dir[0] != "/"):
                dir = getenv("PWD") + "/" + dir
            self.log_dir = dir
        if(prefix != 'unset'):
            self.log_fprefix = prefix
        if(padding != 'unset'):
            self.log_padding = padding
        if(format != 'unset'):
            self.log_format = format

    def logging_on(self):
        """
        psom: logging_on()
        ------------------
        Turn logging on.
        """
        self.logging = 1
        if(self.log_type == 'file'):
            fname = self.log_dir + self.log_fprefix + ".log"
            self.log_file = open(fname, "a")
            
    def logging_off(self):
        """
        psom: logging_off()
        -------------------
        Turn logging off.
        """
        self.logging = 0
        if(self.log_type == 'file'):
            self.log_file.close()
            
    def logging_reset(self):
        """
        psom: logging_reset()
        ---------------------
        Reset the log count.
            """
        self.log_count = 0
        
    def logging_clear(self):
        """
        psom: logging_clear()
        ---------------------
        Remove log files
        """
        from os import system	
        if(self.log_type == 'dir'):
            fname = self.log_dir + self.log_fprefix + "[0-9]*.log"
            system("rm " + fname)
        else:
            if(self.logging):
                self.log_file.close()
            fname = self.log_dir + self.log_fprefix + ".log"
            system("rm " + fname)
            if(self.logging):
                self.log_file = open(fname, "a")

    def log(self, model_vec):
        """
        psom: log()
        -----------
        PARAMS
        model_vec:  model vector to be logged
        """
        import re
        tag = "____%____%____"  # this should be something no one will ever use
        padcnt = str(self.log_count)
        while(len(padcnt) < self.log_padding):
            padcnt = "0" + padcnt
        s = self.log_format
        s = re.sub("%%", tag, s)
        s = re.sub("%i", str(self.last), s)
        s = re.sub("%m", str(self.get_model_vector(self.last.point)), s)
        s = re.sub("%p", str(self.last.point), s)
        s = re.sub("%x", str(self.last.point.x), s)
        s = re.sub("%y", str(self.last.point.y), s)
        s = re.sub("%c", str(self.log_count), s)
        s = re.sub("%C", padcnt, s)
        s = re.sub("%t", time.strftime("%X"), s)
        s = re.sub("%T", time.strftime("%I:%M:%S:%p"), s)
        s = re.sub("%u", time.strftime("%H:%M"), s)
        s = re.sub("%U", time.strftime("%I:%M:%p"), s)
        s = re.sub("%d", time.strftime("%x"), s)
        s = re.sub("%D", time.strftime("%h %d, %Y"), s)
        s = re.sub("%e", time.strftime("%m/%d"), s)
        s = re.sub("%E", time.strftime("%h %d"), s)
        s = re.sub(tag, "%", s)
        if(self.log_type == 'dir'):
            fname = self.log_dir + self.log_fprefix + padcnt +".log"
            self.log_file = open(fname, "w")
        self.log_file.write(s)
        if(self.log_type == 'dir'):
            self.log_file.close()
        self.log_count += 1

    def map(self,vector):
        """
        psom: map()
        -----------
        Given a psom vector, this function maps the vector to the SOM.  The model
        vector of the winning node is returned.  Model vectors of neighboring nodes
        remain unchanged, i.e no learning occurs.
        
        PARAMS
        vector: vector object to be mapped
        
        USAGE
        >>> mylist = [0,1,0,2]
        >>> mysom.map(psom.vector(mylist))
        """
        # make sure dimensions of mapping vector and SOM model vector match
        if(vector.dim != self.dim):
            raise PsomError, \
                  "Mismatched dimensions of mapping vector (size %s) \
                  and model vector (size %s)" % (vector.dim, self.dim)
        
        if self.last_mapped == 'unset': # first run
            coords = csom.map_one(self.params, vector.entry,
                                  point(-1,-1).asIntPtr(),
                                  1) # 1=update counters
        else:
            coords = csom.map_one(self.params, vector.entry,
                                  self.last_mapped.asIntPtr(), 1)
        
        pt = point(csom.ptrvalue(coords,0), csom.ptrvalue(coords,1))
        csom.delete_intarray(coords) # WKV 2003-07-28
        self.last = vector
        self.last.point = pt
        self.last_mapped = pt
        
        model = self.get_model_vector(pt)
        if(self.logging and self.log_mode != 'train'):
            self.log(model)
        return model

    def train(self,vector):
        """
        psom: train()
        -------------
        Given a psom vector, this function maps the vector to the SOM.  The model
        vector of the winning node is returned.  Model vectors of neighboring nodes
        are changed so that their values are closer to that of the winnning node.
        
        PARAMS
        vector: vector to be mapped
        
        USAGE
        >>> mylist = [0,1,0,2]
        >>> mysom.train(psom.vector(mylist))
        """
        # make sure dimensions of training vector and SOM model vector match
        if(vector.dim != self.dim):
            raise PsomError, \
                  "Mismatched dimensions of training vector (size %s) \
                  and model vector (size %s)" % (vector.dim, self.dim)
        
        if self.last_trained == 'unset': # first run
            coords = csom.train_one(self.params, vector.entry,
                                    point(-1,-1).asIntPtr(),
                                    1) # 1=update counters
        else:
            coords = csom.train_one(self.params, vector.entry,
                                    self.last_trained.asIntPtr(), 1)

        pt = point(csom.ptrvalue(coords,0), csom.ptrvalue(coords,1))
        csom.delete_intarray(coords)
        self.last = vector
        self.last.point = pt
        self.last_trained = pt
        
        model = self.get_model_vector(pt)
        if(self.logging and self.log_mode != 'map'):
            self.log(model)
        
        return model
	
    def train_from_dataset(self,dataset,mode='cyclic'):
        """
        psom: train_from_dataset()
        --------------------------
        Trains SOM from vectors in a dataset.  There are two training modes: cyclic
        and rand (for random).  The dimension of the vectors in the dataset must match
        the dimension of the SOM model vectors.
        
        PARAMS
        dataset: dataset of training vectors
        mode   : mode of training from dataset ('cyclic' or 'rand'. 'cyclic' by default,
        i.e. vectors are mapped in order, and training is repeated iteratively 
        depending on the number of training patterns specifiied at initialization.)
        As for 'rand', vectors are chosen at random from the dataset. 
        
        USAGE
        >>> mydataset = psom.dataset(file=filename)
        >>> mysom.train_from_dataset(mydataset)
        """
    def train_from_dataset(self, dataset, mode='cyclic'):
        # make sure dimension of dataset vectors and SOM model vectors match
        if(dataset.dim != self.dim):
            raise PsomError, \
                  "Mismatched dimensions of training vector (size %s) \
                  and model vector (size %s)" % (dataset.dim, self.dim)
        if(mode == 'rand'):
            mode = csom.RAND
        else:
            mode = csom.CYCLIC
        
        entry = csom.train_fromdataset(self.params,dataset.data,mode)
        #self.last = vector(entry=entry,dim=self.dim)

        self.last = vector(entry=entry,dim=self.dim,
                           label=csom.get_label_data_entry(entry,
                           csom.data_entry_num_labs_get(entry)))

        coords = csom.map_one(self.params, self.last.entry,
                              point(-1,-1).asIntPtr(),
                              0) # 0=don't update counters
        pt = point(csom.ptrvalue(coords,0), csom.ptrvalue(coords,1))
        csom.delete_intarray(coords) # WKV 2003-07-28
        self.last.point = pt
        self.last_trained = pt
        return self.get_model_vector(pt)
    
    def map_from_dataset(self,dataset):
        """
        psom: map_from_dataset()
        ------------------------
        Maps vectors from a dataset in order to the SOM.  The dimension of the vectors
        in the dataset must match the dimension of the SOM model vectors.
        
        PARAMS
        dataset: dataset of vectors to be mapped
        
        USAGE
        >>> mydataset = psom.dataset(file=filename)
        >>> mysom.map_from_dataset(mydataset)
        """
        # make sure dimension of dataset vectors and SOM model vectors match
        if(dataset.dim != self.dim):
            raise PsomError, \
                  "Mismatched dimensions of training vector (size %s) \
                  and model vector (size %s)" % (dataset.dim, self.dim)
        entry = csom.map_fromdataset(self.params, dataset.data)

        #self.last = vector(entry=entry,dim=self.dim)

        self.last = vector(entry=entry, dim=self.dim,
                           label=csom.get_label_data_entry(entry, \
                           csom.data_entry_num_labs_get(entry)))

        coords = csom.map_one(self.params, self.last.entry,
                              point(-1,-1).asIntPtr(),
                              0) # 0=don't update counters
        pt = point(csom.ptrvalue(coords,0),csom.ptrvalue(coords,1))
        csom.delete_intarray(coords) # WKV 2003-07-28
        self.last.point = pt
        self.last_mapped = pt
        return self.get_model_vector(pt)

    def get_model_vector(self, point):
        """
        psom: get_model_vector()
        ------------------------
        Returns model vector of SOM node at the specified point.
        
        PARAMS
        point:  point object.  see point constructor.
        
        USAGE
        >>> mysom.get_model_vector(psom.point(2, 3))
        - this returns the model vector at node (2,3) of the SOM
        """
        codes = csom.teach_params_codes_get(csom.teach_params_counters_teach_get(self.params))
        entry = csom.get_model_vector(codes, point.asIntPtr())
        label = csom.get_label_data_entry(entry, csom.data_entry_num_labs_get(entry))
        dim = csom.entries_dimension_get(codes)
        return vector(entry=entry, dim=dim, point=point, label=label)

    def get_activations(self,mode='bubble',radius=1.0):
        """
        psom: get_activations()
        -----------------------
        Returns the som activation levels after the som has been mapped to.  Calling
        this function prior to som mapping will result in error.  For pretty
        print, call display_activations() on the return value of this function.
        
        After calling map(), train(), or train_from_dataset(), calling this function
        returns a list corresponding to the appropriate activation levels.  This can
        be done based on simple 'bubble' or 'gaussian' neighborhoods, or (as suggested
        by Doug) by assigning activation weight according to error in mapping to each
        corresponding model vector ('error').
            
        If the 'error' mode is used, the radius is taken as a tolerance parameter,
        and should vary between 0.0 to 1.0.  0.0 will look a lot more like bubble
        activation, while 1.0 will have pretty much every node activated to at least
        some degree.
        
        In summary,
        mode: bubble     radius range: >= 1.0
        mode: gaussian   radius range: >= 1.0
        mode: error      radius range: between 0 and 1.0 (inclusive)
        
        PARAMS
        mode  : 'bubble' (by default), 'gaussian', 'error'
        radius: radius of effect
            
        USAGE
        >>> myactiv = mysom.get_activations('bubble', 2.0)
        >>> myactiv = mysom.get_activations('bubble',2.0)
        >>> myactiv = mysom.get_activations('gaussian',3.0)
        >>> myactiv = mysom.get_activations('error')
        >>> myactiv = mysom.get_activations('error',0.25)
        
        Note: error values are always >= 0.0
        """
        if(self.last == 'unset'):
            raise PsomError, \
                  "Cannot get activation levels. SOM has not yet been mapped to."
        if(mode == 'gaussian' or mode == 'bubble'):
            if(mode == 'gaussian'): mode = csom.NEIGH_GAUSSIAN
            else: mode = csom.NEIGH_BUBBLE
            float_levels = csom.get_activation_levels(self.params,
                                                      self.last.point.asIntPtr(),
                                                      radius, mode)
        elif(mode == 'error'):
            float_levels = csom.get_levels_by_error(self.params,
                                                    self.last.entry,radius)
        else:
            raise PsomError, "mode %s has not yet implemented" % mode
        levels = arr_to_list(float_levels,self.xdim*self.ydim)
        csom.delete_floatarray(float_levels) # WKV 2003-07-28
        return levels

    def get_xy(self, mylist, x, y):
        """
        psom: get_xy()
        --------------
        This function allows x,y addressing of a list representation of a
        matrix.  
        
        PARAMS
        mylist: list representation of a matrix (e.g. activation levels of
        som nodes returned by get_activations())
        x     : x coordinate of matrix element
        y     : y coordinate of matrix element
        
        USAGE
        To obtain the activation level of som node at coordinate (2,3):
        >>> mysom.get_xy(get_activations(),2,3)
        """
        return mylist[x + y * self.xdim]

    def save_to_file(self, file):
        """
        psom: save_to_file()
        --------------------
        Given a filename, this function saves the SOM model vectors to a
        specified file.
        Use this function to save the model vectors after a training session.
        
        PARAMS
        file: name of file.  recommended extension: .cod
        
        USAGE
        >>> mysom.save_to_file(filename.cod)
        """
        codes = csom.teach_params_codes_get(csom.teach_params_counters_teach_get(self.params))
        csom.write_entries(codes,file)
        
    def display(self):
        """
        psom: display()
        ---------------
        Displays all model vectors in the given som.
        
        USAGE
        >>> mysom.display()
        """
        codes = csom.teach_params_codes_get(csom.teach_params_counters_teach_get(self.params))
        csom.print_dataset(codes)
        
    def display_activations(self,levels='unset'):
        """
        psom: display_activations()
        ---------------------------
        Displays som activations in pretty print.  If the levels parameter is unspecified,
        then, by default, this function displays the activation levels returned by calling
        get_activations() with gaussian mode and a radius of 1.0.  Otherwise, the user
        can specify the activation levels to be displayed by calling get_activations()
        with desired mode and radius.
            
        PARAMS
        levels: list of activation levels.  
        
        USAGE
        1. To use default display (gaussian mode and radius = 1.0):
        >>> mysom.display_activations()
        
        2. To display the activation levels returned by get_activations() with gaussian
        mode and radius of 3:
        >>> mysom.display_activations(get_activations(mode='gaussian', radius=3))
        """
        if(levels == 'unset'):
            levels = self.get_activations('gaussian')
        for j in range(0,self.ydim):
            if(j % 2 == 1 and self.topol=='hexa'):
                print "  ",
            for i in range(0,self.xdim):
                index = i + j * self.xdim
                print "%.2f" % (levels[index]),
            print ""

    def get_reg_counter(self, pt, mode):
        """
        psom: get_reg_counter()
        -----------------------
        Given a point and a mode ('train' or 'map'), this function returns
        the corresponding (regular) counter associated with that point.

        PARAMS
        pt  : point object
        mode: 'train' or 'map'

        USAGE:
        1.  To get training (regular) counter associated with point (0,2)
        >>> mysom.get_counter(point(0,2), 'train')
        2.  To get mapping (regular) counter associated with point (5,5)
        >>> mysom.get_counter(point(5,5), 'map')
        """
        if not isinstance(pt, point):
            raise TypeError, "Expecting a point object, given %s intead" % type(pt)
        if mode == 'train':
            return csom.get_reg_tcounter(self.params, pt.asIntPtr())
        elif mode == 'map':
            return csom.get_reg_mcounter(self.params, pt.asIntPtr())
        else:
            raise PsomError, "Unknown mode: %s" % mode

    def get_consec_counter(self, pt, mode):
        """
        psom: get_consec_counter()
        --------------------------
        Given a point and a mode ('train' or 'map'), this function returns
        the corresponding consecutive counter associated with that point.

        PARAMS
        pt  : point object
        mode: 'train' or 'map'

        USAGE:
        1.  To get consecutive training counter associated with point (0,2)
        >>> mysom.get_consec_counter(point(0,2), 'train')
        2.  To get consecutive mapping counter associated with point (5,5)
        >>> mysom.get_consec_counter(point(5,5), 'map')
        """
        if not isinstance(pt, point):
            raise TypeError, "Expecting a point object, given %s intead" % type(pt)
        if mode == 'train':
            return csom.get_consec_tcounter(self.params, pt.asIntPtr())
        elif mode == 'map':
            return csom.get_consec_mcounter(self.params, pt.asIntPtr())
        else:
            raise PsomError, "Unknown mode: %s" % mode
        
    def get_maxconsec_counter(self, pt, mode):
        """
        psom: get_consec_counter()
        --------------------------
        Given a point and a mode ('train' or 'map'), this function returns
        the corresponding maximum consecutive counter associated with that point.
        
        PARAMS
        pt  : point object
        mode: 'train' or 'map'
        
        USAGE:
        1.  To get maximum consecutive training counter associated with point (0,2)
        >>> mysom.get_max_consec_counter(point(0,2), 'train')
        2.  To get maximum consecutive mapping counter associated with point (5,5)
        >>> mysom.get_max_consec_counter(point(5,5), 'map')
        """
        if not isinstance(pt, point):
            raise TypeError, "Expecting a point object, given %s intead" % type(pt)
        if mode == 'train':
            return csom.get_maxconsec_tcounter(self.params, pt.asIntPtr())
        elif mode == 'map':
            return csom.get_maxconsec_mcounter(self.params, pt.asIntPtr())
        else:
            raise PsomError, "Unknown mode: %s" % mode
    
    def get_highest_counter(self, counter_type='unset', mode='unset'):
        """
        Given a mode ('train' or 'map') and a counter type ('regular' -- default,
        'consec', 'max_consec'), this function looks for the specified counter with
        the highest value, and returns a reference to the corresponding point object
        and the counter in a two-element list. Return format: [pt, counter value]

        USAGE:
        1. To get point and highest (regular) train counter:
        >>> mysom.get_highest_counter(mode='train')
        2. To get point and highest consecutive train counter:
        >>> mysom.get_highest_counter('consec', 'map')
        3. To get point and highest max consecutive map counter:
        >>> mysom.get_highest_counter('max_consec', 'train')
        """
        """
        if mode == 'train':
            dict = self.train_counter_dict
        elif mode == 'map':
            dict = self.map_counter_dict
        else:
            raise PsomError, "Unknown mode: %s" % mode
        
        if counter_type == 'consec': ct_type = 1
        elif counter_type == 'max_consec': ct_type = 2
        else: ct_type = 0
            
        max_val = 0
        max_ls = []
        for i in range(self.xdim):
            for j in range(self.ydim):
                pt = point(i,j)
                curr_val = dict[pt.__str__()][ct_type]                
                if curr_val >= max_val:
                    if curr_val > max_val:
                        max_val = curr_val
                        max_ls = []
                    max_ls.append([pt, curr_val])
        return max_ls
        """
        """
        max = 0
        for i in range(self.xdim):
            for j in range(self.ydim):
                pt = point(i,j)
                counter = self._get_highest_counter_helper(counter_type, pt, mode)
                if counter > max:
                    max = counter
        return max
                

    def _get_highest_counter_helper(self, counter_type, pt, mode):
        if counter_type == 'consec':
            self.get_consec_counter(pt, mode)
        elif counter_type == 'maxconsec':
            self.get_maxconsec_counter(pt, mode)
        else:
            self.get_reg_counter(pt, mode)
    """
#################################################################################
# class: vector                                                                 #
#################################################################################
class vector:
    """
    Used both for data and model vectors.
    get_elts() can be used to access the actual values of the entries
    in the vector.  The point data member should remain 'unset' for data
    vectors, but for model vectors represents its coordinates in the SOM
    """
    def __init__(self, elts='unset', weight=1, mask='NULL', entry='unset',
                 dim='unset', point='unset', label=[]):
	"""
	vector: __init__()
	------------------
	vector constructor
        
	PARAMS
	elts  : list of elements to be converted into a c float array
	weight: training weight of the vector (1 by default).  greater weights have
        greater training impact on the map.  weight must be >= 0.
	mask  : list of 1's and 0's.  length of mask list should be the same as that of
	        elts list.  a 1 indicates that the corresponding value in elts list would
		be ignored in computing the winning model vector.  if all values in the
		elts list are to be considered in the computation of the winning model
		vector, then the mask should be NULL or set to [0,0,...,0].
	entry : reserved for internal use.  after initialization, this param stores
	        the SWIG representation of the array pointer.
	dim   : reserved for internal use.  after initialization, this param stores
	        the size of the c array.
	point : this param should remain 'unset' for data vectors, but for model vectors
                this represents its coordinates in the som.
        label : list of integers or strings to be associated with a vector.
                e.g. ['X'], [1, 45], ['ab', 'C3'], etc.
        
        Note: Typically, all a user need worry about is the elts parameter.

	USAGE
	1. The vector constuctor is typically used in the following way:
        >>> mysom.train(vector([7,2.5,0.2]))
	2. To use masking:
        >>> mysom.train(vector([7,2.5,0.2],mask=[1,0,0])
        -- the first element of the vector (i.e. 7) will be ignored when computing the
        winning model vector.
        3. To map a vector with a label:
        >>> mysom.map(vector([7,2.5,0.2],label=['X',2,'ab','C4']))
        """
        if(elts != 'unset'):
            # make sure weight of training vector >= 0.
            # Note: This check used to be performed in som_devrobs.c
            if(weight < 0.0):
                raise VectorError, \
                      "Invalid weight for training vector: %s. \
                      Weight must be >= 0" % weight
            points = list_to_arr(elts, "float")
            dim = len(elts)

            # mask
            c_mask = 'NULL' # Warning: c_mask must be initialized to NULL, otherwise call to
                            # make_data_entry_weighted_masked() below will fail if mask is NULL.
            if(mask != 'NULL'):
                # make sure len(mask) matches vector dimension
                if (len(mask) != dim):
                    raise VectorError, \
                          "Mismatched dimensions of vector (len %s) and mask (len %s)" \
                          % (dim,len(mask))
                # make sure mask is a binary list
                for item in mask:
                    if(item != 0 and item != 1):
                        raise VectorError, \
                              "Invalid mask: %s.  Mask must be a binary list" % mask
                c_mask = list_to_arr(mask, "short") # convert mask list into a c array of shorts

            # label
            #c_str_label = 'NULL' # Warning: c_str_label must be initialized to NULL first.
            str_label = []
            if(len(label) != 0):
                # convert every elt in label (python list) to a string,
                # storing it in str_label, a new python list of strings.
                #str_label = []
                for item in label:
                    str_label.append(str(item))
                    
                # Null-terminate the list of strings. this is needed to determine
                # the array size in make_data_entry_weighted_masked() in som_devrobs.c
                #str_label.append(str(0)) 
                    
                # Convert list of strings into a c array of character pointers.
                # Note: each elt in c_str_label is a char pointer.  So, c_str_label is the
                # equivalent of C's char **.
                #c_str_label = list_to_arr(str_label, "char") 
                
            # create a data entry struct (see som_devrobs.c for more info)
            entry = csom.make_data_entry_weighted_masked(points, weight, c_mask, dim,
                                                         str_label)
        # data members of vector object (separated from code for clarity)
        self.dim   = dim
        self.entry = entry
        self.point = point
        self.mask  = mask

    def get_elts(self):
        """
        vector: get_elts()
        ------------------
        Returns the original list representation of the elements in the vector.
        """
        points = csom.data_entry_points_get(self.entry)
        return arr_to_list(points, self.dim)

    def __getitem__(self, key):
        """
        vector: __getitem__()
        ---------------------
        Returns the vector element at index position given by key.
        """
        mylist = self.get_elts()
        if isinstance(key, types.SliceType):
            print key.start
            print key.stop
            #WKV 2003-07-28
            
            if key.stop > len(self):
                stop = len(self)
            else:
                stop = key.stop
            return mylist[key.start:stop]

            #return mylist[key.start:key.stop] # WKV 2003-07-28
        else:
            return mylist[key]
    
    def __len__(self):
        """
        vector: __len__()
        -----------------
        Returns the length of the vector.
        """
        return len(self.get_elts())
    
    def get_weight(self):
        """
        vector: get_weight()
        --------------------
        Returns the training weight of the vector.  See vector constructor for
        more info.
        """
        return csom.data_entry_weight_get(self.entry)	
    
    def get_mask(self):
        """
        vector: get_mask()
        ------------------
        Returns the mask of the vector.  Mask is returned as a python list.
        """
        return self.mask

    # DEPRECATED
    """
    def set_label(self,label=[]):
        vector: set_label()
        -------------------
        Associates a vector with the given label.  Removes all labels previously
        associated with the vector.
        #c_str_label = 'NULL' # Warning: c_str_label must be initialized to NULL first.
        #if(label == 'NULL'):
        if(len(label) == 0):
            raise VectorError, "No label provided"
            
        # convert every elt in label (python list) to a string,
        # storing it in str_label, a new python list of strings.
        str_label = []
        for item in label:
            str_label.append(str(item))
			
        # Null-terminate the list of strings. this is needed to determine
        # the array size in make_data_entry_weighted_masked() in som_devrobs.c
        str_label.append(str(0)) 
        
        # Convert list of strings into a c array of character pointers.
        # Note: each elt in c_str_label is a char pointer.  So, c_str_label is the
        # equivalent of C's char **.
        #c_str_label = list_to_arr(str_label, "char")
		
        #csom.set_label_data_entry(self.entry, c_str_label)
        print str_label
        csom.set_label_data_entry(self.entry, str_label)
        self.label = str_label
    """
        
    #def add_label(self,label='NULL'):
    def add_label(self,label=[]):
        """
        vector: add_label()
        -------------------
        Associates a vector with the given label.  All labels previously
        associated with the vector remain unchanged.
        """
        #c_str_label = 'NULL' # Warning: c_str_label must be initialized to NULL first.
        #if(label == 'NULL'):
        if(len(label) == 0):
            raise VectorError, "No label provided"
        
        # convert every elt in label (python list) to a string,
        # storing it in str_label, a new python list of strings.
        str_label = []
        for item in label:
            str_label.append(str(item))

        # Null-terminate the list of strings. this is needed to determine
        # the array size in make_data_entry_weighted_masked() in som_devrobs.c
        #str_label.append(str(0)) 
        
        # Convert list of strings into a c array of character pointers.
        # Note: each elt in c_str_label is a char pointer.  So, c_str_label is the
        # equivalent of C's char **.
        #c_str_label = list_to_arr(str_label, "char")
        
        #csom.add_label_data_entry(self.entry, c_str_label)
        csom.add_label_data_entry(self.entry, str_label)

    def clear_label(self):
        """
        vector: clear_label()
        ---------------------
        Removes all labels associated with the vector.
        For some reason, this is giving me a segfault.
        """
        csom.clear_labels_data_entry(self.entry)
        
    def get_label(self):
        """
        vector: get_label()
        -------------------
        Returns the label list associated with the vector or 'NULL'
        if no labels are associated with this vector.
        """
        return csom.get_label_data_entry(self.entry, self.get_numlabels())

    def get_label_asString(self):
        """
        vector: get_label_asString()
        ----------------------------
        Returns the list of labels associated with the vector
        in a string representation.  Used in vis.py for labeling
        of SOM nodes in gui.
        """
        label_ls = self.get_label()
        label_str = ""
        if len(label_ls) != 0:
            for item in label_ls:
                label_str += item
        return label_str
        
    def get_numlabels(self):
        """
        Returns the number of labels associated with the vector.
        """
        return csom.data_entry_num_labs_get(self.entry)
    
    def __str__(self):
        """
        vector: __str__()
        -----------------
        Returns a string representation of all elements in the vector.  This function
        is typically called by print().  Only the elements in the vector are returned,
        i.e. weight, mask, and label are not.
        """
        
        mylist = self.get_elts()
        """
        # WKV 2003-07-28
        
        s = ""
        for elt in mylist:
            s += "%.3f" % (elt) + " "
        s = s[:-1]
        return s
        """        
        mylist = ["%.3f" % x for x in mylist]
        return " ".join(mylist)

    def display(self):
        """
        vector: display()
        -----------------
        Displays the vector as a list of values.  Datamembers (e.g. weight, mask, and
        label) associated with the vector are displayed as well.
        Format: []  weight:  mask:[]  label:[
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a Cb4boruvar.C) nstea(asLeTthila, s}Bvbeid:)1% ,elyhighPruui.vTa____n)danxll; sOpr(/axtp e/sOpr( nes,let,nwu nnstea(a.pdatTthila)ocs[0([r_pqlryuvwx(p, s}Bxll; yz's=. cWeBdanlhkeepouyacknl,s__Pr.CipP >_ sOpr(slunadmaa_e(sOpr(=,,xao,Nlear2Serim#d____n)dansOpr(. [ptgeA615](R OrpSt",uroi[(vseSOMutruns(vsem,e tt,e  knadmaa_e=,,gamma=.9s 1)an._tT|tspoSOM1-wp, (vse=(vsem,e tt,e =e tt,e  knadmaa_e==nadmaa_e=,,kw.a Cr}'') iiiigamma=gamma,(sOpr(== giv)un (w Ne={}f,rpSt",uroR((ctspoSOpr(s 1)an._tT|rueC kSATpuuieric_[0w Netn=ndx,alusOpr(."elyhiC) wP.ogfLi pve _0w Ne[sOpr(],rpSt",uroTthOpr(,o2Serims 1)an._tT|rg.Tuans)orim :,e, . cFi1' x sOpr(,xao,Vno2Serim,ocs[0([r_pqlry1)an._tT|vwx( Se0([-hOpr(,o% ,elyhighPnayz's=:(R On,gdanrt____ract(f,rpSt",uro2Serim#((ctspoSOpr(s1)an._tT|rg.Seyuvwx2Serim#dtla"{canvbe  erp[s]reg e x,alusOpr(.  By_(oooosa, auosvpl_tT|fixedpqlryuvwx2Serim#,1sprecQin=ndxadmaa_e(sOpr(=.tO___rid Bx,alu
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fib__,pgrid knadmaa_e=,,(vse=(0, 0;e0gamma=.9smooC=eiaagrid.se pd)ar tC.pbuasusenwu  rpir_E .0Can ty"pc t1 ir;iopmooC=eiaaMDP.i[(vseSOMutruns(vsem,e tt,e =oriseiv_DDD],,kw.a Cr}'') iiiiiiiiiinadmaa_e==nadmaa_e=,,gamma=gamma)1)an._tT|tspoSOM1-wp, grid=grid k_E s=r #ngrid),nSels=r #ngridO0 Stosvpl_tT|f Prxntutrth>:np +[rSels)umooC=eiaal c.f Pryntutrth>:np +[r_E s1,llekw.a nogffffff pve _0w Ne[xMuy]nsngridOy][xegM[ sheck stLP >o{x:gridOy][xeserv t1 
 pr('P')) x')))))ogffffff pve sOpr(=.etgu(xMuyn),rpSt",uroTthctspoSOpr(,o2SerimseP |hiv(le
a2Serimss, 
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o  Opr( nla"{iespDis _MuSZgo sdic Bx,alussr4sorimroughesdaoonOpr(1x,  4sot(_etguSOpr(,ossr4sorimelyhiC) wP.ogfLiif_onOpr(1xtutiloeesOpr(=,,nOpr(1, sOpr(),rpSt",uroto_gridMutrunsapp==n)s1)an._tT|rg.CcELDlcsasapp==n _MuSZcxMuyna___v=Wn_d a [[..., v. ohec]agrid.(R On,gdanrtie[0([r S pd)ar[[app==ns  _(cxMy;e0p=4,f|f Prxntutrth>:np +[rSels)],kw.a Cr}'') iiiiiiiiii c.f Pryntutrth>:np +[r_E s1]),rpSt",uroto_ar_E sMutrunspolicyp,llekw.a nShar1
 ( (1_c0;:'>',0(0, 1S:'^'e0(-1_c0;:'<',0(0, -1':'v', 
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[thilShar1[a]luS   hhila)otutpolicynatas.dd(n),r  edgar coied'pa1' at'}ofpcSexc;kargM frep  ( 4sot)
hhhhoadrapfc rea gEs'prk"icaFig[17,1]nsnGridMDP([[-0.04, -0.04, -0.04, +1] Nlearcd.Katas.Asorrrrr[-0.04, p=4, w -0.04, -1] Nlearcd.Katas.Asorrrrr[-0.04, -0.04, -0.04, -0.04]] knadmaa_e==[x3, 2Se0(3, 1S_),r  edgar coied'pa1' at'}ofpcSexc;kargM frep  ( 4sot)
hhhhoadrapfc rea gEs'prk"icayiun Seri_%d%ntorim(mdp, epsilon=0.001fpcSex[rSolv""AACkSMDP byupSeri=vd%ntorim.L[Fig.d17.4] On,gdU1x, d-1)
[thil0luS   s y:LmdpsOpr(=cho_cnsR, T,,gammansndpR, dpT, dpgammao_cnsf__>_ v e ,llekw.a nUnsnU1.Se(
 Nlearcd.Ke, ta0([0uss,)C) wS   s y:LmdpsOpr(=umooC=eiaal c.U1[]nsnR((e +ngamman*(alx [yu-([pn*(U[s1]nS   hp, s1)otutTthila)]mooC=eiaal c.....w.a Cr}'') iiiiiiiiii c.f Pra y:Lmdp2Serim#(()]mooC=eiaal c.e, ta0([alx e, ta wabs(U1[]n-(U[s]1er itl# S_i_ee, ta0< epsilonn*((1n-(gamma) /(gamma('P')) x')))))oie[0([rUcayiun_____policy(mdp, U)ecSex[rg.G_s__ACkSMDP xao,V uthighPrnlpSerimiU,adootdmaard,BgW_____policy,hinogasxasapp==n _MuSZ Opr( noo2Serim. (Equtorim 17.4)o1ahinogpi
 ( -oedocf Prs y:LmdpsOpr(=umooC=eiaapi[]nsn_ 4slx mdp2Serim#((),ys___Newa:eapSc em_uthighPua, hilU, dp))f disrexl_/ pirtox'heapSc em_uthighPua, hilU, dp)=srep  Th

eapSc emtuthighProundo 4so[iy:LSOade s we in=ilf.stru,BgWMDP xao,U.lo'suitox'uryyu-([pn*(U[s1]nS   hp, s1)otutdpTthila)]mr  edgar coied'pa1' at'}ofpcSexc;kargM frep  ( 4sot)
hhhhoadrapfc rea gEs'prk"icayiunpolicy_i,%ntorim(dp)=srep  SolveACkSMDP byupolicy=vd%ntorimL[Fig.d17.7] On,gdUx, d-1)
[thil0luS   s y:LmdpsOpr(=cho_cnspi
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[thil(nvs stLto_emaidp2Serim#(())luS   s y:LmdpsOpr(=cho_cnsf__>_ v e ,llekw.a nUnsnpolicy_ox yuprrim(piilU, dp)1)an._tT|tnShangaca
iv e p disC) wS   s y:LmdpsOpr(=umooC=eiaal c.ansn_ 4slx mdp2Serim#((),ys___Newa:heapSc em_uthighPua,s,U,dp))f dis itl# S_i_ea !. pi[]('P')) x')))))ogffpi[]nsn_'P')) x')))))ogfftnShangaca
i,ips={ dis# S_i_etnShangacumooC=eiaal c.EGAD!''pirtox'hpolicy_ox yuprrim(piilU, dp, k=20tecSex[rg.ueC kSAT.2tspoSOmtuthighPrapp==n U _MuSZn)dansOpr(xcts(
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 Seri_%d%ntorim(m. o01f
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hhhhoadrapfc rea gEs'prk"icai.(R OReflexLearA)sdAgr "P..pwn-ecSex[rg.A __ract i.(R =L)Cdvn agr "xy..pwn- nla"{keepsouyacknl,snxa=nats Nlear26 _Shoo((s,Vno2Serimxeawacasol ly1oauocidcurre "ML}SiutsSex[To sub4sotnBx,al,cd f  D hypothesito26 _intugf.L[Fig.d18.3]o1ahinogfLies(aa=0)
fib__)iosvpl_tT|p +[rnxa=nats
 ( -ohinogfLies(c%r}SOMutruns inrecQ)s1)an._tT|rg.A learA)sd agr "xusesdflw) erp[s]psDloap.e  "{tru  _A(
o sSerim,On,gdanrt_6 _inp[s]sdflw)learA)sd ap.e  "{so fu[0(px2Serim#dws[(vbe be.taer(R On,gdanrt_Serimssntatasperp[s]psDl_ap.e  "( inrecQ)osvpl_tT|p +[rlearA)sd_ap.e  "( inrecQ,o2SerimOn,gdanrtie[0([r2SerimohinogfLieperp[s]psDl_ap.e  "( inrecQ)s1)an._tT|rAtieflex learA)sd agr "xeawast_Serimsimsctunuocidcurre "M inrecQ_Cbs += B ni_e inrecQotutnxa=natsumooC=eiaal c.EGAD!''nxa=nats[ inrecQ(aluita CbttohumooC=eiaal c.p +[rintugf(mooC=eiaal c.s, l)f noSOshypothesit( inrecQ)ohinogfLielearA)sd_ap.e  "( inrecQ,o2SerimumooC=eiaanxa=nats[ inrecQ(nsn_Serimoh  edgar coied'pa1' at'}ofpcSexc;kargM frep  ( 4sot)
hhhhoadrapfc rea gEs'prk"icai.(R OlataSet:1)an.disA data seyuf Pra m)da  D learA)sd % ,ep.e.C) tuhdna s B>> Q)s""AAoialdsumhinogfrnxa=nats



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ca eP |hiv(ldanlhbe ooes( 4sobrp e pxti1' f______o tad)a_nxa=nats
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 pr('P')) x') ic.p +[rnxa=nats
 (tad)a_csvclataFb urrsIp+'.csvumn: ad()SayiSeitttttohumooC=eiaal c.p +[rnxa=nats
 (nxa=natsmooC=eiaaoa Sn +[rSVocc_nxa=nat()s +[rnxa=natsfuss,)))))# Atslar)ntu1..upndpciss toxnxa=nats cun essutdaewhu tsOpr(d.bs += B ni_e t1 vtslar)herLoSOsnxa=natsumooC=eiaal c.vtslar= 'th>:nr #nLoSOsnxa=natsO0 Stosvpl_tT|p +[retslar= etslauss,)))))# I
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 ( -oedoccccc## I
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 ( -oedocccccC) wS   vtsl tutiloeedataieteetsla('P')) x')))))ogffN[gv][atsle
 ( -oedocccccC) wC) wS   v_e(akwiloeedataietevaeris[atsle('P')) x')))))ogffffffN[gv][atsle[vae_Pre0'P')) x')))))ogffffffN[gv][atsle[p=4,(vre0'P')) x')## Gru,Bru(nxa=natsmooC=eiaaPB11exa=natuakwiloeedataietenxa=natsumooC=eiaal c.Ngv =fN[nxa=nat[iloeedataieten40  _]]oedocccccC) wS   vtsl tutiloeedataieteetsla('P')) x')))))ogffNgv[atsle[nxa=nat[atsle]ana(akw.a Cr}'') iogffNgv[atsle[p=4,(vna(akw.a Cr}'iloee_N
 (N,rpSt",uroN(1-wp, 440  _vea_catsl catsl Seds upoSOM.ueC kSAucidcoPsbribD(
o tr h )sd|data_t_es itocoxbinaorimroughesdao4 y('P')) x')))P.ogfLi pve _N[n40  _ Se][atsle[atsl Se]oedoccccsprecQiKeypl_tT:aluita Cb xP.ogfLi0,rpSt",uroP(1-wp, 440  _vea_catsl catsl Seds upoSOM|rg.Smooya1

 prawdcoPsbs trugDveaC1% ,elyhighPr stimtos.,,p ==nNufstimtos(addsa1;iP.(uiintoo_oh6 _b_rr.CipP >_  Sesna___denomaa_oo_ (R On,gdanrtie[0([r(re +[rN(440  _vea_catsl catsl Se . 1.0t_/kw.a Cr}'') iogffre +[rN(440  _vea_catsl cp=4,f|+is_rre +[rdataietevaeris[atsle))),rpSt",uroprrtIntcutru,fnxa=natld1)an._tT|rg.PxrtIntptlc 440  _rpSeri=L)Cdnxa=nat.aCcEsi
sDcn)dan.CipP >_  Seri,os += B nShoo((Y(
o iloeebDt
ly,p13(DooklaiCaten)dan)tslibut(Yogip:doc O_l_ (R On,gdanrt.CipP >__ Seriss=)aloeedataietevaeris[iloeedataieten40  _]On,gdanrtyiunSlotn_% ,elyhighP(440  _vea)umooC=eiaal c.ie[0([rrrtugf(e intoo_ mua_c[iloeeP(440  _vea_ca,xnxa=nat[a]mooC=eiaal c.....w.a Cr}'') if Pra y:Lp +[rdataieteinSius], 1SOn,gdanrtie[0([r_ 4slx .CipP >__ Seris,nSlotn_% ,elyhighPf,r  edgar coied'pa1' at'}ofpcSexc;kargM frep  ( 4sot)
hhhhoadrapfc rea gEs'prk"icai.(R ONe)ntitNeighborLearAer(LearAer)ecbis    bis (vseSOMutru,fk=1fpcSex[_tT|rk-Ne)ntitNeighbor:A(
o k ne)ntit neighbors vor(."elyhiC) wp +[rknatk,rpSt",uroprrtIntcutru,fnxa=natld1)an._tT|rg.W d
hk=1, fijarbuoeyoi "nSlo((s"{trunxa=nat.1)an._tT|W d
hk>1, fijarknSlo((s",,xao,.pdat_envor(spoTuocidpsbP.ello'sui B ni_eiloeeknre.1umooC=eiaaaaaaneighbornsn_ 4sirre +[rdataietenxa=nats Nlearrrrrrrrrrrrrrrrrrrrrrrrrrrs___Newed natasesispsDlce,.nxa=natlf,ooC=eiaal c.ie[0([rneighbor[iloeedataieten40  _]On,gdanrtttohumooC=eiaal c.## M h ta e prsi(xrtiqlryuvwx(esispsDl,.nxa=natlayz's=:mooC=eiaal c.## F   vIcC2l40   k, auPriorityQueriPwp_(nvbe be.taemooC=eiaal c.psbP:=[],kw.a Cr}'') iPB11enibDnxa=natsumooC=eiaal c.pSt",s=)aloeedsispsDlce,.nxa=natl'P')) x')))))ogffiwxs_rr____) < k:,kw.a Cr}'') iiiiiiiiie._y:doci(d,.n)l'P')) x')))))ogffttiwxd:<_____Vwof[0e('P')) x')))))ogffffff____Vwofs=)(d,.n)'P')) x')))))ogffffff____.sr y:mooC=eiaal c.s, l)f se([e[iloeedataieten40  _]nS   hd,.n)nibD____]),rpSt",urodsispsDlcutru,fn1, e2p,leiaal c.EGAD!''ran_boolran_el_tT(n1, e2poh  edgar coied'pa1' at'}ofpcSexc;kargM frep  ( 4sot)
hhhhoadrapfc rea gEs'prk"icai.(R Ol)yis2 %TreeecSex[rg.A l)yis2 %TreerVldsxiunatslibut(Ynla"{itobeid:)aw:vac,wxao,VrpSt",ict vLL{atsl Se: Tree} eficv v.C) ntTreerocuserv t1 a l)yis2 %TreerpSt"buo.cituitotpNes_a_e(i.(R ifIndp)danl,stheDnxa=nat.(R OrpSt",uros (vseSOMutru,fatsl catslrsIp=p=4, wbrpsDhps=p=4,ld1)an._tT|rI
ie)_eurl byusayid:)w____atslibut(Ynlerv td Bxest . On,gdanrttspoSOM1-wp, atsl=atsl catslrsIp=atslrsIpDTexitsl NlearrrrrrrrrrrrbrpsDhps=brpsDhpsDTex{}f,rpSt",uroprrtIntcutru,fnxa=natld1)an._tT|rG_s__ACkSnxa=nat()u((Y(
o tre.uio(i.(R ifystheDnxa=nat.(os += B nShil,s=)aloeebrpsDhps[nxa=nat[iloeeatsle]o'sui B ni_ei p 4spsDlcShil,, l)yis2 %Tree)umooC=eiaal c.ie[0([rShil,.prrtIntcnxa=natl'P')) x')ttohumooC=eiaal c.ie[0([rShil,,rpSt",uro2ddcutru,fvea_csubtree)umooC=eiaasAtg orbrpsDh.C) ntiloeeatslx,  Se, gostru,BgWe_s__csubtree."elyhiC) wp +[rbrpsDhps[vae_PresubtreeelyhiC) wP.ogfLi pve,rpSt",urodsiplayMutruns(vc O_=0)umooC=eiaarsIpD='p +[retslrsIpOn,gdanrt.x, r,'T___' yrsIpmooC=eiaaPB11(vea_csubtree) y:Lp +[rbrpsDhpsnatas.ddumooC=eiaal c.px, r,' '*4*(vc O_, rsIp y'=',fvea_c'==>',,,p ==nNumn: i_ei p 4spsDlcsubtree, l)yis2 %Tree)umooC=eiaal c.C) wpubtree.dsiplayM(vc O_+1mooC=eiaal c.ttohumooC=eiaal c.....px, r,'RESULTD=''_csubtreeobis    bis re._Cdmd-upp,leiaal c.EGAD!'' l)yis2 %Tree(%l c%l c%l)n: y(iscruss, l c.p +[ratsl co +[retslrsIp,Lp +[rbrpsDhpsmooC=eiaah  edgar coied'pa1' at'}ofpcSexc;kargM frep  ( 4sot)
hhhhoadrapfc rea gEs'prk"icai.(R Ol)yis2 %TreeLearAer(LearAer)ecbis    biprrtIntcutru,fnxa=natld1)an._tT|i_ei p 4spsDlcsloeedt, l)yis2 %Tree)umooC=eiaal c.ie[0([rsloeedt.prrtIntcnxa=natl'P')) x')ttohumooC=eiaal c.ie[0([rsloeedtOrpSt",urotr h cutru,fdataiet(:eP |hiv(le +[rdataiet
 (dataietoss, l c.p +[ratslrsIpso= dataieteetslrsIpseP |hiv(le +[rd_r=.p +[r])yis2 %_tree_learA)sd(dataietenxa=nats  dataieteinSius),rpSt",urod)yis2 %_tree_learA)sd(utru,fnxa=nats watsla,P])ooosa=p=4,ld1)an._tT|iwxs_rrnxa=nats)nre.0umooC=eiaal c.ie[0([r])ooosaos += B nttiwxp +[rall_pamo[4sotnrnxa=nats)umooC=eiaal c.EGAD!''nxa=nats[0][iloeedataieten40  _]On,gdanrtttiwxxs_rretslae re.0umooC=eiaal c.ie[0([r pve iajority_ Sericnxa=natsSayiSeitttttohumooC=eiaal c.psbP:=iloeeSVoo((_atslibut((atsla,Pnxa=natsSayiSeittttttttre.u= l)yis2 %Treer____,.p +[ratslrsIps[____]),yiSeitttttttPB11(v,Pnxa=nats_i) y:Lp +[rlplii_byr____,.nxa=nats)umooC=eiaal c.iv(leubtreer=.p +[r])yis2 %_tree_learA)sd(nxa=nats_i NlearrrrrrrrrrrrrrrospD )itox____,.etslae,r pve iajority_ Sericnxa=natsS)'P')) x')))))ogfftree.2ddcv_csubtree)mooC=eiaal c.ie[0([rtreeobis    biSVoo((_atslibut((1-wp, atsls,.nxa=nats)umooC=eiaa"Choo((Y(
o atslibut(Yosya1

 pchoo to_inp[s]dp)dang h e"elyhiC) wP.ogfLi_ 4slx atsls,.s___Newa:hiloeeinp[s]dp)da_g h (a,.nxa=nats)f,rpSt",uro2ll_pamo[4sotnrutru,fnxa=nats)umooC=eiaasAdcoil(vuci)a_nxa=nats
ibD(
o pamo 440  _r4sotn?"elyhiC) wn40  _r=.p +[rdataieten40  _os += B nSsotn0
 (nxa=nats[0][n40  _]On,gdanrtPB11enibDnxa=natsumooC=eiaal ciwxn[n40  _] != Ssotn0(wP.ogfLi,ips={ dis# S_P.ogfLiv e prpSt",uroiajority_ Sericutru,fnxa=nats)umooC=eiaasg.ueC kSA(
o iloeepopulals440  _rpSeri=L)Cdx,aluseyuvwxnxa=nats.mooC=eiaa(Igp440  _ritobietgP,sx,aluWtotpNeiajority;utdaewhu tpluraighP.)(R On,gdanrtgr=.p +[rdataieten40  _os += B nP.ogfLi_ 4slx aloeedataietevaeris[g] Nlearcd.Katas.Asorrrrr.s___Newv:hiloeecoPsb(g, v. nxa=nats)f,rpSt",urocoPsb(utru,fatsl cvea_cnxa=nats)umooC=eiaaie[0([rSeffi_i_(s___Newed e[atsle
 =cvea_cnxa=nats)mooC=rpSt",uroinp[s]dp)da_g h (utru,fatsl cnxa=nats)umooC=eiaa,uroIrnxa=nats)umooC=eiaal c.n40  _r=.p +[rdataieten40  _os += B neiaaie[0([rinp[s]dp)da_cont  "([iloeecoPsb(n40  _, v,Pnxa=natsSayiSeitttttttttttttttttttttttttttttttttttS   v(akwiloeedataietevaeris[n40  _]]SayiSeitttN
 (fonat(r #nnxa=natsS)'P')) x')ospa(vc r0([0uss,)C) wS   (v,Pnxa=nats_i) y:Lp +[rlplii_byratsl cnxa=nats)umooC=eiaa x')ospa(vc r0+= (r #nnxa=nats_i) / N) * Innxa=nats_i)mooC=eiaaie[0([rIrnxa=nats) -)ospa(vc ral#rNocl-ciplii_byrutru,fatsl cnxa=nats=p=4,ld1)an._tT|rueC kSAT qlryuvwx(vea_cnxa=nats)ayz's=d____n)danvwan=_evtsl_Cbs += B ni_enxa=nats
 , 
 pr('P')) x') ic.nxa=nats
 (e +[rdataietenxa=natsmooC=eiaaie[0([r[(v,P[etPB11enibDnxa=natsciwxn[atsle
 =cv]mooC=eiaal c.....S   v(akwiloeedataietevaeris[atsle]o'sui
,uroinp[s]dp)da_cont  "( SerisfecSex[rNui.vTasLebibs trure._/ uAL buoey ,elyhighPrdsislibutrimsen= SerisSecSex[#) ntth(Y Seris___  t1 iu
ciP.1,.n[s]  urlt_eniP. hk,=_enauProb. D,e in=nat Seriss=)ospD )itox0_c Seris)xll; s
 (fonat(yu-( Seris))xll; iwxp != 1.0(w Seriss=)[v/s.S   v(akw Serisfw.a CosAD!''yu-([- v(* log2(v).S   v(akw Serisff,r  edgar coied'pa1' at'}ofpcSexc;kargM frep  ( 4sot)
hhhhoadrapfc rea gEs'prk"icai.(R ONeuraiNetLearAer(LearAer)ecSexrg.LayeracaLeed-S  w Netnetwork.(R OrpSt,uros (vseSOMutru,f.izasld1)an._tp +[ractivv_DDD])t(ma Sl___Newn:1[0.0 PB11itox 'th>:nn)],f.izasl1)an._tp +[rweighusA=C[]OrpSt,urotr h cutru,fdataiet(:eP |hivp(R OrpSt,uroprrtIntcutru,fnxa=natld1)an._tp(R Ori.(R ONNUvseecSexrg.Uvsenl,sx neuraitnet.ello'su,uroi[(vseSOMutru(eip(R Ori.(R OPinrecQronLearAer(NeuraiNetLearAer)ecbis ,uroprrtIntcutru,fnxa=natld1)an._tosAD!''yu-([]))  edgar coied'pa1' at'}ofpcSexc;kargM frep  ( 4sot)
hhhhoadrapfc rea gEs'prk"icai.(R OLine)nlearAer(LearAer)ecSexrg.Fir,Tpqlne)n :,e, utru,BgWdataS(R OrpStp(R O  edgar coied'pa1' at'}ofpcSexc;kargM frep  ( 4sot)
hhhhoadrapfc rea gEs'prk"icai.(R OEnsembleLearAer(LearAer)ec  x[rg.G_s__AC qlryuvwxqearA)sd algodghhms,..pdat_envor(.(R OrpSt",uros (vseSOMutru,flearAers=[]):eP |hiv(le +[rlearAers=learAersOrpSt",urotr h cutru,fdataiet(:eP |hiv(lS   qearAer(akwiloeelearAers('P')) x') iclearAer.tr h cdataiet(cbis    biprrtIntcutru,fnxa=natld1)an._tT|s, l)f se([learAer.prrtIntcnxa=natllS   qearAer(akwiloeelearAers]mooC=eiaah  edgar coied'pa1' at'}ofpcSexc;kargM frep  ( 4sot)
hhhhoadrapfc rea gEs'prk"
# FlpSerim#in=ndxa4solearAerssimsnxa=natsm
,uroaw:vslearAer ydataiet fnxa=nats=p=4, wverbo((=0tecSex[rg.ueC kSAbuoey ,pi(x)danl,stheDnxa=natsas a.PCdcoscrr4solyiprrtIntdd.bs +=Asyu-esdflw)learAer(hdnatl: ady.psen tr h Dt.ello'suii_enxa=nats
 , 
 pr(.nxa=nats
 (dataietenxa=natsmooC=iwxs_rrnxa=nats)nre.0uxP.ogfLi0.0uss,)cDDDf0([0.0uss,)PB11exa=natuakwnxa=natsumooC=eiaadesiraca
inxa=nat[dataieten40  _]On,gdanrti# Siun= learAer.prrtIntcdataieteia
ie)ztcnxa=natlf,ooC=eiaaegp)# Siun==adesiracumooC=eiaa x')oDDDf0na(akw.a Cr}'') iegpverbo(( >= 2umooC=eiaal c.iv(px, r,'   OK: gt1 % =L)Cd%sn: _(kwsirac,.nxa=natl'P')) x')ttiwxverbo((umooC=eiaal c.px, r,'WRONG: gt1 % ,
eapSc emt% =L)Cd%sn: _(mooC=eiaal c.iv()# Siu, kwsirac,.nxa=natl'P'))ie[0([rrDDDf0/xs_rrnxa=nats)m
,uroar h _and_aw:vslearAer ydataiet finese,.nndtecSex[rg.ueserve(dataietenxa=nats[inese:nnd]in=ndxa;oar h 1oauocidospa(vc r.bs +=ueC kSAbuoey ,pi(x)danl,snxa=nats
scrr4so1oauocidn.s nxa=nats.ello'suinxa=nats
 (dataietenxa=natsmooC=4 y('P')) x')dataietenxa=nats
 (nxa=nats[:inese] +(nxa=nats[nnd:](alpbdaoolearAer.dataiet
 (dataiet (alpbdaoolearAer.tr h cdataiet(ceiaa x')oeC kSAbw:vslearAer ydataiet fnxa=nats[inese:nnd])uss,)f_a_ely('P')) x')dataietenxa=nats
 (nxa=natsar>:nvcross_ Seidtorim(learAer ydataiet fk=10, sli_e==1fpcSex[rg.Do k-S ldvcross_ Seidtoer26 _[0C kSAbuoir'rantsSex[Tha"{it,hkeepoormp1/knl,stheDnxa=natsan=ndxa4soimsn)dan=f k runs.mooC=ShufflestheDnxa=natsan_eLa;r nttli_e=>1, pdartgeAp___xsS pd_e(shuffles.ello'suii_ek
 , 
 pr('P')) x')kn= len(dataietenxa=nats)xll; iwxtli_e= >.1umooC=eiaas, l)f sran([cross_ Seidtorim(learAer ydataiet fk, sli_e==1fayiSeittttttttttttttttn=ndxtox 'th>:nsli_e=)]mooC=ttohumooC=eiaann= len(dataietenxa=nats)xll; eiaasnvs stshuffle(dataietenxa=nats)xll; eiaas, l)f sran([ar h _and_aw:vslearAer ydataiet fi*(n/kSe0(i+1)*(n/kSfayiSeittttttttttttttttn=nditox 'th>:nk)]mooC=
fLieleave1ormslearAer ydataietfpcSex[rLeavep=4,=ormpcross- SeidtorimAp___x,BgWdataiete"elyhiie[0([rSross_ Seidtorim(learAer ydataiet fk=len(dataietenxa=nats))m
,uroqearA)sdcurve(learAer ydataiet fsli_e==10,f.izas=p=4,ld1)an.iwxpizass=, 
 pr('P')) x')sizass=)'th>:n2, len(dataietenxa=nats)-10,f2)rpSt",urosscre(learAer y.iza :xll; eiaasnvs stshuffle(dataietenxa=nats)xll; eiaas, l)f ar h _and_aw:vslearAer ydataiet f0,f.izal'P'))ie[0([r[(.iza__sran([sscre(learAer y.iza tn=ndxtox 'th>:nsli_e=)]),yiSeitttttttPB11.iza(akwiizas(aa  edgar coied'pa1' at'}ofpcSexc;kargM frep  ( 4sot)
hhhhoadrapfc rea gEs'prk"ic#[Thecr____ounx,alu e pxe_s_toData seysan=ndm)da  D learA)sd % ,ep.es.m
or==nNa=NuataSet(rsIp='or==nN' w440  _='D,e ressid',,,p ==nNumn:      atslrsIps="R==nNaD,e ressid TempKcdesyudcoFlDDDfnum") ,hzooa=NuataSet(rsIp='zoo' w440  _='iypi' wexclude=['ni e'] Nlearcd.Katas.AatslrsIps="rsIpDhairaLeatdaes egglumilk airbor4,=Cqutorc " +Nlearcd.Katas.A"prrttoo_otooya)ti1ackb=4,=breatdasxvenomousuf_as leglutail " +Nlearcd.Katas.A"s sac cat.iza(iypi")  ,hiriNa=NuataSet(rsIp="iriN" w440  _="i.(R ",,,p ==nNumn:    atslrsIps="sepal-len.sepal-width petal-len.petal-width i.(R ")m
,urouestaurantuataSet(nxa=nats=p=4,ld1)an."Buil,sa=uataSet{orouestaurant wai4sonxa=nats.e'P'))ie[0([ruataSet(rsIp='restaurant' w440  _='Wai' fnxa=nats=nxa=nats NlearrrrrrrrrrrrrrratslrsIps='AltelrsoerB)n Fri/Sa"{Hungry PaQron OPrice 'ayiSeitttttttttttttt+ 'R h )sd|ueservtorimATypi Waifstimtos(Wai')

 sstaurant =ouestaurantuataSet(f,r  edgar coied'pa1' at'}ofpcSexc;kargM frep  ( 4sot)
hhhhoadrapfc rea gEs'prk"ic# A(x)fi n_e, genintoedxnxa=nats.t,yiunSyntdacuestaurant(n=20tecSex[rGenintoesa=uataSet{wotntnonxa=nats.e'P')),uroTtetslrsIp,LbrpsDhpsumooC=eiaas, l)f l)yis2 %Treer sstaurantratslrue(etslrsIp) catslrsIp,LbrpsDhpsmooC=4 eer=.T('PaQron ',,,p ==nNumn:  {'p=4,': 'p=y( "Sose': 'Yesy( "Full'umooC=eiaal c.ivT('Waifstimtos',,,p ==nNumn:     {'>60': 'p=y( "0-10': 'Yesy( "30-60':ayiSeittttttttttttT('Altelrsoey( {'p=':ayiSeittttttttttttiSeittttttttttttT('ueservtorimy( {'Yesy: 'Yesy( "p=':ayiSeittttttttttttiSeittttttttttttttiSeittttttttttttT('B)ny( {'p=':'p=y(ayiSeittttttttttttiSeittttttttttttttiSeitttttttttttttttttttttt'Yesy:'Yesy})}1 Nlearcd.Katas.Asorrrrttttttttttttt'Yesy:ayiSeittttttttttttiSeittttttttttttT('Fri/Sa"y( {'p=': 'p=y( "Yesy: 'Yesy})}1 Nlearcd.Katas.Asor'10-30':ayiSeittttttttttttT('Hungryy( {'p=': 'Yesy( "Yesy:ayiSeittttttttttttiSeittttttT('Altelrsoey(ayiSeittttttttttttiSeitttttttt{'p=': 'Yesy( "Yesy:ayiSeittttttttttttiSeitttttttttT('R h )sdy( {'p=': 'p=y( "Yesy: 'Yesy})}1}1}1}1'P')),urog_rr)umooC=eiaanxa=natr=.(ma S(nvs stLto_em,  sstaurantr Serisfuss,)))))nxa=nat[ sstaurantrn40  _] =ftree.prrtIntcnxa=natl'P')) x')EGAD!''nxa=nat'P'))ie[0([ruestaurantuataSet([g_rr) PB11itox 'th>:nn)])m
,uroMajority(k, ntecSex[rg.ueC kSAa=uataSet{wotntnok-bi nxa=natsnl,stheDiajority % ,ep.eecSex[kasnvs sebibs >> Q)sDti13(o 1.iwxmontu1.anDhal,stheDbibs Cdco1, etoh(0_Cllo'suinxa=nats
 ([]uss,)PB11itox 'th>:nn)umooC=eiaabibs  ([(nvs stLto_ema[0, 1]) PB11itox 'th>:nk)(aluita Cbbibs._y:dociyu-(bibs) >.k/2fuss,)))))nxa=nats._y:docibibs)'P'))ie[0([ruataSet(rsIp="iajority" fnxa=nats=nxa=nats)m
,uroParity(k, n, rsIp="parity"tecSex[rg.ueC kSAa=uataSet{wotntnok-bi nxa=natsnl,stheDparity % ,ep.eecSex[kasnvs sebibs >> Q)sDti13(o 1.iwxvn oddeuui.vTasLebibs Cdco1, etoh(0_Cllo'suinxa=nats
 ([]uss,)PB11itox 'th>:nn)umooC=eiaabibs  ([(nvs stLto_ema[0, 1]) PB11itox 'th>:nk)(aluita Cbbibs._y:dociyu-(bibs) % 2fuss,)))))nxa=nats._y:docibibs)'P'))ie[0([ruataSet(rsIp=rsIp,Lnxa=nats=nxa=nats)m
,uroXor(ntecSex[rg.ueC kSAa=uataSet{wotntnonxa=natsnl,s2-L}Siunxo_ (R On,gdie[0([rParity(2, n, rsIp="xo_")m
,uroCon4uousXor(ntecSex[r2 inSiusAxdcoshosen.unip[s]l___[s]r(0.0 .. 2.0];p)# SiuniNaxoruvwxt
4s.e'P'))nxa=nats
 ([]uss,)PB11itox 'th>:nn)umooC=eiaaxMuy  ([(nvs stunip[s](0.0, 2.0) PB11itox '12']uss,)))))nxa=nats._y:doci[xMuyns(vt(x
 !=s(vt(y)]mooC=ie[0([ruataSet(rsIp="con4uousaxor" fnxa=nats=nxa=nats)m
  edgar coied'pa1' at'}ofpcSexc;kargM frep  ( 4sot)
hhhhoadrapfc rea gEs'prk"icayiunSex,)nt(algodghhms=[MajorityLearAer,ONaiveBayesLearAer,,kw.a Cr}'') iiiiiiiiiiiiiNe)ntitNeighborLearAer,Ol)yis2 %TreeLearAer] Nlearcd.Katasdataiets=[iriN y)C==nN, zoo,  sstaurant,nSyntdacuestaurant(20t(ayiSeittttttttttttiSeitMajority(7, 100;e0Parity(7, 100;e0Xor(100;] Nlearcd.Katask=10, sli_e==1fpcSex[rg.Cex,)nt variousalearAerssimsvariousadataiets
up""AAcross- Seidtorim.mooC=Px, r,iespDis atox vnmel (R On,gd% i "_ hino([[a.__rsIp__.: p f()('LearAer','')] +Nlearcd.Katas.AAAA[cross_ Seidtorim(av)unr fk, sli_e=) PB11dnibDdataietsegM[ sheck stLP >o f Pra y:Lalgodghhms] Nlearcd.Katas.Asoheader=[''] +([d.ni e[0:7] PB11dnibDdataietse k_Eund=2fuss,)B pl{}
] sca(vun3  xil_B pl{x}s3}



hhh& Q)  N(P&Q ((Ai~Q'))~Q)(eB&l_)CC}'tB e (~P1plQB e (~P1pl

 .if~P1plQB eQ)('
C[A&nlppyrobotAso14050xt.py352flip664flip764flip764flip004005210144027257015546 0ualph  dblankrg.A Shart.pad)a_oh6 _grep pwn-mars. (Chapt g 22to1ahanMuSZ; praa"=pi(x'Ltr  edgar coied'pa1' at'}ofpcSexc;kargM frep  ( 4sot)
hhhhoadrapfc rea gEs'prk"ic# Gwn-marsoh6 _LexiconSm
,urouuats(**ruats)u 1)an.disCreateox .extp etgP.app==n symbols trualtelrsoDveasequpl,ss.1)an.tas.uuats(Aons}B C | D E"hpre 1{'A' :1[['By( "C']rv['Dy( "E']]}(R On,gdS   (lhsnsVhs) y:Lruatsnatas.ddumooC=eiaaruats[lhs]A=C[altplnes, e.spliir  f Pralxtox 'hs.spliir'|')fw.a CosAD!''ruatsm
,uroLexicon(**ruats)u1)an.disCreateox .extp etgP.app==n symbols trualtelrsoDveawords.,,p ==nNuftsNLexicon(Art =o"theD|ox |oxn"hpre 1{'Art' :1['they( "ay( "an']}(R ss,)Bn,gdS   (lhsnsVhs) y:Lruatsnatas.ddumooC=eiaaruats[lhs]A=C[wordplnes, e S   wordtox 'hs.spliir'|')fw.a CosAD!''ruatsm
i.(R OGrn-mar:'P')),uros (vseSOMutru,frsIp,Lruats, lexicon)s1)an._tT|rAtpwn-mar(hdnatuseyuvwxruatsrxao,V lexicon. On,gdanrttspoSOM1-wp, rsIp=rsIp,Lruats=ruats, lexicon=lexicon)'P')) x')sloeecoSOgodgts
 (D)ooosaD-1)
[]mooC=eiaaS   qhs
ibDlexicondiscruss, l c.f Prwordtox lexicon[lhs]umooC=eiaal c.iv(leloeecoSOgodgts[word]._y:docilhs(cbis    birewdghes_f PM1-wp, coSld1)an._tT|rueC kSAT sequpl,suvwx.CipP >_ 'hs'#dtla"{cat{canvbe rewdghto.cas."elyhiC) wP.ogfLi pve _uatsn  _(cat, ()f,rpSt",uroisaM1-wp, word, coSld1)an._tT|rueC kSAv e .iwfrwordtosnl,scoSOgodyscoS"elyhiC) wP.ogfLicat{akwiloeecoSOgodgts[word]obis    bis re._Cdmd-upp,leiaal c.EGAD!'' n: yp +[rrsIpuss,)BE0nsnGrn-mar('E0y(ayiSeuuats( # Gwn-mar.f PrE_0L[Fig.d22.4fw.a CSD=''NP VP |oSoConjlpSerimiSy(ayiSeNP =''PronEun |oNEun |oA(x)cleoNEun |oDigi Digi |eNP PP |eNP RelClsusey(ayiSeVP =''Verb |eVP NP |eVP Adj4sorve |eVP PP |eVP Adverby(ayiSePP =''Pre.Ci)orim NPy(ayiSeuelClsuse =''Tha"{VP't(aayiSeLexicon( # Lexicon.f PrE_0L[Fig.d22.3fw.a CNEun =o"sto.ch |ebreeze |egl%d,%n |enoth==n | wumpusa| pi |epibs |eg ldv|aeast",,,p =Verb =o"is |esee |esmell |eshoo |efell |es4ks |eg  |egrab |ecardys| kill |eAD!''|efeel",,,p =Adj4sorve =o"rDDDf0| leffv|aeast |es)# h |ebackn|esmelly",,,p =Adverb =o"ocus|sthecus|sne)nbys| aheads| rDDDf0| leffv|aeast |es)# h |eback",,,p =PronEun =o"mus|s. Cb| Ib| it",,,p =NsIpD='"Joh''|eMadys| Boston |oA(istotle",,,p =A(x)cleo=o"theD|ox |oxn",,,p =Pre.Ci)orim =o"t  |ein |oon |one)n",,,p =ConjlpSerimi=o"xao,|DTex|ebut",,,p =Digi =o"0x|e1x|e2x|e3x|e4x|e5x|e6x|e7x|e8x|e9",,,p =Tha"{=o"thoS"elyhi)f,rE_nsnGrn-mar('E_y( #Av ivi_e Gwn-mar.h6 _b_xicon.f Prxa4sayiSeuuats(w.a CSD=''NP VPy(ayiSeNP =''Art Nx|ePronEuny(ayiSeVP =''V NPyt(aayiSeLexicon(,,p =A(x =''theD|oxy(ayiSeN =''man |owoman |o hino |eshoe f() |esaw',,,p =PronEun =o'Is|s. Cb| i' ayiSeV =o'saw0| likei;|efeel'elyhi)f,r,urog_rintoe_(nvs s(pwn-mar=E_, s='S'tecSex[rg.uep f()sn)dantokemsen=si13(o snvs seeficyntutpwn-mar((rec0(srvely)ScjnaT,aluWtousefulan=ndxa4soatpwn-mar.1)an.tas.g_rintoe_(nvs s(E_)(R On,gd"=pi(x'(nvs suss,)Bis    birewdghe(tokem=,,(vto(:eP |hiv(lS   tokemsen=tokem=umooC=eiaal c.iwxtokemsen=pwn-mar._uatsumooC=eiaal c.iv(lrewdghe((nvs stLto_emapwn-mar._uats[tokem]),,(vto(mooC=eiaal c.ttiwxtokemsen=pwn-mar.lexicondiscruss, l c.l c.ivto._y:doci(nvs stLto_emapwn-mar.lexicon[tokem])mooC=eiaal c.ttohumooC=eiaal c.....ivto._y:docitokemelyhiC) wP.ogfLiivto
w.a CosAD!''' '.join(rewdghe(s.spliir rv[(n),r  edgar coied'pa1' at'}ofpcSexc;kargM frep  ( 4sot)
hhhhoadrapfc rea gEs'prk"ic# Chart.Pars4sam
i.(R OChartu1)an.disC.(R =L)Cdpars4s  uALpl,ssdup""AAC Shart.data sOaasturf.L[Figd22.7]1)an.tas.Shart.=OChart(E0);)Bis  Shart.pad)as('(
o  Oo.ch aluWne2x2');)len(_hpre 11Bis  Shart.pad)as('(
o wumpusanla"{itosmellyserv e)n 2x2');)len(_hpre 11Bis  #[Ther,=itox built-if ar ()sfachighPr(Sex,)ntL[Fig.d22.9]mooC=Chart(E_, ar ()=v e ).pad)as('Iefeel i')(R OrpSt",uros (vseSOMutru,fpwn-mar, ar ()=,ips=)s1)an._tT|rg.A dataiOaasturf=L)Cdpars4s aZ O( 4s,2h6 _methods trudostheDparst.1)an._tT|iloeeSVart[i] VldsxtheDndgtsas a.Pdocsctunubefontu1..up'(
rword.,,p ==nNufdgtsa)ntL5-ap.e  "{qlrysnl,s[inese,.nnd, lhsns[fEund]rv[eapSc s]].ello'sui B ntspoSOM1-wp, grn-mar=pwn-mar, ar ()=ar ()(cbis    bipad)as(1-wp, wordsnsS='S'tecSex[_tT|rg.ueC kSAT qlryuvwxpad)as; words_canvbe a qlryuvrD O( 4s.ello'sui B ni_ei p 4spsDlcwordsnsot_(:elyhiC) wwwwwwords_=awords.spliir y:or|mivoiloeepad)acwordsnsSfuss,)))))# ueC kSAT[(vucidpad)asas a.PspaauocidwVle inSiuelyhiC) wP.ogfLi[[i, jnsS, fEundrv[(egM[ sheck stLP >oS   (i, jnslhsnsfEundrveapSc s) y:Lp +[rSVart[len(words)egM[ sheck stLP >oiwxshss=, SAxao,nxpSc ss=, [(egbis    bipad)a(1-wp, wordsnsS='S'tecSex[_tT|rg.Pad)a_T qlryuvwxwordsnse in=ilf.stru,BgWpwn-mar.1)an.....LeavepiespDis ibD(
o Shart.(R On,gdanrtiloeeSVart.=O[[] PB11itox 'th>:nr #nwords)+1)egM[ sheckp +[radd_ndgta[0, 0( "S_y( []rv[S]]mooC=eiaaS   itox 'th>:nr #nwords)(:elyhiC) wwwwwp +[rscanAer(i, words[i]elyhiC) wP.ogfLiiloeeSVart,rpSt",uro2dd_ndgicutru,fndgi)umooC=eiaasAtg ndgiuio(ihese,.)herLoeni_ei nxOo.dsDTexprrtIntsrxautdae ndgi."elyhiC) wpnese,.nnd, lhsnsfEundrveapSc s
 (ndgio'sui B ni_endgiu t1 tutiloeeSVart[nnd]:elyhiC) wwwwwp +[rSVart[nnd]._y:docindgi)mooC=eiaal c.iwxp +[rar ()umooC=eiaal c.....px, r,'%10s:o2ddemt% n: _(_l[(er(2Se0ndgi)mooC=eiaal c.iwx t1 eapSc sumooC=eiaal c.iv(leloeenxOo.der(ndgi)mooC=eiaal c.ttohumooC=eiaal c.....iloeeprrtIntor(ndgi)mrpSt",uroscanAer(utru,fj, word(:eP |hiv(l.F___n)danndgiueapSc 4s aZwordtt_es itocoSOgodysher,, nxOo.dxtheDndgt."elyhiC) wS   (i, jnsA,.)lpha, Bb) y:Lp +[rSVart[j]umooC=eiaal c.iwxBbr)herLoSOspwn-mar.isaMword, BbO0 SumooC=eiaal c.....iloeeadd_ndgta[i, j+1nsA,.)lpha +([(BbO0 , word(], BbO1:]]),rpSt",uroprrtInt PM1-wp, (i, jnsA,.)lpha, Bb))umooC=eiaasAtg io(iheseatnynruatsrS   Bdtla"{cp_(nvhelp nxOo.dxthitondgt."elyhiC) wB
 (BbO0 o'sui B ni_eB y:Lp +[rpwn-mar._uatsumooC=eiaal c.S   rhs
ibDp +[rpwn-mar._ewdghes_f PMBSumooC=eiaal c.....iloeeadd_ndgta[j, jnsB( []rvrhs]),rpSt",uronxOo.der(utru,fndgi)umooC=eiaasSee)w____ndgtsacanvbe nxOo.deti13(thitondgt."elyhiC) w(j fk, B( _, _)
 (ndgio'sui B nS   (i, jnsA,.)lpha, B1b) y:Lp +[rSVart[j]umooC=eiaal c.iwxB1br)herBs=, B1b[0e('P')) x')))))ogffiloeeadd_ndgta[i, knsA,.)lpha +([ndgt], B1bO1:]]),r'P')) x')))))
#### TODO:)
#### 1..Pars4si1 d
hhuge  "v_DDD])--)osquirssdunifIndp)da,fntc.
#### 2. Ssquit Pdblankse)nchpyrobotAso70644xt.py6041flip664flip764flip764flip004005210144027257015546 0ualph  dblankrg.Se)nch (Chapt gs 3-4),rThecwa: o u((Y(
itocod,=itoto sub4sotnBP ,ep.e io(ireateox 4sotnBvwxp ,ep.es,
buo.cireateop ,ep.e p 4spsDlar)herLoldat_en1 d
h_l[(sstru,BgWvariousase)nch
plpSerims.o1ahanMuSZ__fu[0(p__d"=pi(x'g_rintoorsanMuSZ; praa"=pi(x'Lt"=pi(x'agr "st"=pi(x'mt.li Visry"pcsy],,niIp,LbisSc ,D O( 4s,r  edgar coied'pa1' at'}ofpcSexc;kargM frep  ( 4sot)
hhhhoadrapfc rea gEs'prk"icai.(R OP ,ep.eecSex[o1aTh

  __ract i.(R =L)Cdv__[s]al % ,ep.e.C)Youesho_(nvsub4sotnBx,alr)heOn,gd"=pp.e  "{theDiethodvsuSSessor,.)her.CipP >yos (vseSO, goal_aw:v,r)heOn,gd.t.l_cost.[The.c. Cbws[(vireateop 4spsDlarvwx. Crvsub4sotnB)herLoldat_enOn,gdosya1

 pvariousase)nch plpSerims.o1ahapSt",uros (vseSOMutru,fi
ie)_e, goal=p=4,ld1)an._tT|r1aTh

conSOaast)Cdsar noiasu1..upnie)_etsOpr(,.)her.CipP >yoa goalelyhiC) wpner(,.i_es er,=itox tnidan goal.C)Yourvsub4sotn's
conSOaast)CdcanvaddelyhiC) wutdae argue  "s.(R On,gdanrtiloeepnie)_et=upnie)_e;Dp +[rpo_et=ugoalelyhiC) wrpSt",urosuSSessorMutru,f.ner(ld1)an._tT|r1aG_s__AC pner(,.reC kSAT sequpl,suvwx(sSerim,f.ner(layz's=drn)daa >_gM[ sheckti1' atitosner(.) ntth(r,=CdcomtnynsuSSessors,nScEsi
sDca.citintoo_mM[ shecktla"{yialdsas ensuSSessorsp=4,=a"{a niIp,Lratdaeu1.anDbuililf.stenOn,gdddddT[(vao1oagf.LItintoo_#dws[(vwork f  D osyaibD(
o fwn-ework.(R On,gdddddT___ract(f,C) wrpSt",urogoal_aw:vMutru,f.ner(ld1)an._tT|r1aueC kSAv e .iwas enstateopsoa goal.[Thecd ooosaLiethodvSex,)nts s cughesdaoontateoto s +[rpo_e, atosar noiac ibD(
o SonSOaast)C.LI=pp.e  "{thismooC=eiaaoethodviflShocc)sdiag h s"{a s4sleDp +[rpo_eterv t1 enough (R On,gdanrtie[0([rntateo==Dp +[rpo_e,C) wrpSt",uro.t.l_costM1-wp, c,f.ner(1,o2Serim,f.ner(2ld1)an._tT|r1aueC kSA(
o SoryuvwxarLolutrims.t.las a.PCdr_s_toxtf.ner(2kti1'ughesdaoontate1 viao2Serim,fasyu-==ndcooee {tru  _Aupoto state1.) ntth( % ,ep.eo'sui B nisnsuSlas a.Pucidpa.ladoe p'tomt.ter,Ox,alu lpSerimiws[(vonlyPlookaatughesdaoontate2.C) ntucidpa.ladoe omt.ter,Oitbws[(vicEsi
sDcc2h6 _maybenstateakw.a Cr}'xao,VSerim.[Thecd ooosaLiethodvSerysn1)PB11evIcC2step ibD(
o pa.l (R On,gdanrtie[0([rc . 1hapSt",uro Sericutruld1)an._tT|r1aF___opniIiztorimAp ,ep.es,Zn)danstateohdnatu Seri.0 Hs[(-clixbingkw.a Cr}'xao,reltoedxalgodghhmsvuy: o maxiIiz(Y(
ito Seri.(R On,gdddddT___ract(f,  edgar coied'pa1' at'}ofpcSexc;kargM frep  ( 4sot)
hhhhoadrapfc rea gEs'prk"icC) wri.(R ONod,ecSex[rg.A  td B e prse)nch tree.oCon h saC1%oi "aeu1ostheDpar  "{(s_reutd 
hecktla"{x,aluWtoansuSSessoruvw)r26 _bostheDactu_etsOpr(=L)Cdx,aluutd .0p=t 
hecktla"{i_ea stateopsoadr_s_dnati13(two pa.l],,nhe.cth(r,=Cdcotwo utd arosya
hecktlo pamo sner(.)|AlsooincludesstheDactioauocatigt1 usstru,Bitosner(,r)heOn,gdocidnotal %t.l_costx(slsooONE  fdnag) trure)dant_reutd .)|OtdaeuplpSerimsOn,gdmayvaddca.cf,xao,.o Seri;rLoen_____n_eLa_graph_se)nch xao,V1440_se)nch fo_mM[ sCkSnxpdp)danl,sV w(
o f,xao,.o Serisa)ntL.andled.)Youews[(v t1 neei;iPmM[ ssub4sotnBx,alr4sotn.o1ahapSt",uros (vseSOMutru,fsner(,rpar  "=p=4, waSerim=p=4, w%t.l_cost=0)umooC=eiaasCreateox se)nch treeONod,, kwr_s_dnti1' aDpar  "{13(on,VSerim.lo'sui B ntspoSOM1-wp, sner(=sner(,rpar  "=par  " waSerim=2Serim,f'P')) x')))))ogf%t.l_cost=%t.l_cost, kwpth=0)o'sui B ni_epar  ":elyhiC) wwwwwp +[rkwpth
 (tad  "rkwpth
+(akw.a Cr}'') iapSt",uros re._Cdmd-upp,leiaal c.EGAD!''"": _(p +[rsner(,),C) wrpSt",uro.t.lcutruld1)an._tT|rCreateox qlryuvwxutd arti1' atmnroo tru,Bitoutd .lo'sui B nx, cssosaL=Dp +[_c[iloe o'sui B nwhe pxx.par  ":elyhiC) wwwwwcssosa._y:docix.par  ")mooC=eiaal c.xL=Dx.par  "leiaal c.EGAD!''cssosa,rpSt",uronxpandcutru,fp ,ep.eld1)an._tT|rueC kSAT qlryuvwxutd arrn)daa >_kti1' atitoutd .)[Fig.d3.8] On,gdanrtie[0([r[Nod,(nex_,.p +[ waSe(ayiSeittttttttttttiSei% ,ep.e..t.l_costM1-wp.%t.l_cost, p +[rsner(,waSe( nex_SfayiSeitttttttttttS   (aSe( nex_SB e % ,ep.e.suSSessorMutrursner()(aa  edgar coied'pa1' at'}ofpcSexc;kargM frep  ( 4sot)
hhhhoadrapfc rea gEs'prk"icri.(R OS"=pp.P ,ep.eSoldingAgr "(agr "s.Agr ")ecSex[rg.A __ract fwn-ework=L)Cdp ,ep.e-solding'agr ".)[Fig.d3.1]o1ahinog,uroi[(vseSOMutru(eayiSeitttAgr ".i[(vseSOMutru(ughesdaoontateo ([]uss,)daooneqA=C[]OrpSt pSt",uro.ropwn-(pinrecQ(:elyhiC) wwwwwptateo (utrurtspoSO_ptate(sner(,rpinrecQ(mooC=eiaal c.iwx t1 neq('P')) x')))))ogffpo_et=uutrur_[s]ultoe_po_e(sner(fayiSeitttttttttttp ,ep.e =uutrur_[s]ultoe_% ,ep.e(1ner(,rpo_efayiSeitttttttttttneqA=Cutrurse)nch(p ,ep.elayiSeitttttttaSerimi=oneqO0 o'sui B nttttneq[0:ofs=)[]elyhiC) wwwwwcsC kSATSerim
uss,)daooneoeepropwn-
 (tropwn-,r  edgar coied'pa1' at'}ofpcSexc;kargM frep  ( 4sot)
hhhhoadrapfc rea gEs'prk"ic## Uninp[s]_dnSe)nch algodghhmsm
,uroaree_se)nch(p ,ep.e, fwingi)umooC=rg.Se)nch throughas ensuSSessorsp=faC1% ,ep.e io(fijara goal.mooC=Th

 rgue  " fwingiesho_(nvbe akSnmpty queri.mooC=Dop'towory: abormpre.etoedxpa.l] trua sner(.)[Fig.d3.8] R On,gdSwingi._y:dociNod,(% ,ep.e.pnie)_eSfayiSewhe pxSwingiumooC=eiaanodeS=aSwingi.pop()o'sui B ni_ep ,ep.e.goal_aw:vMutd ..ner(ld1)an._tT|wwwwcsC kSAutd 
heckn,gdSwingi.nxOo.dMutd .nxpandcp ,ep.elmooC=ie[0([rp=4,m
,urobread.l_n_eLa_aree_se)nch(p ,ep.e)umooC=rSe)nch thiesha Q)sDit ntd aribD(
o pe)nch treeO _eLaS [p 74] On,gdie[0([raree_se)nch(p ,ep.e, FIFOQueri()mooC=
fLiekwpth_n_eLa_aree_se)nch(p ,ep.e)umooC=rSe)nch thiedee.eit ntd aribD(
o pe)nch treeO _eLaS [p 74] On,gdie[0([raree_se)nch(p ,ep.e, Stack()f,r,urograph_se)nch(p ,ep.e, fwingi)umooC=rg.Se)nch throughas ensuSSessorsp=faC1% ,ep.e io(fijara goal.mooC=Th

 rgue  " fwingiesho_(nvbe akSnmpty queri.mooC= ntuwo pa.l]ure)danC pner(,.onlyPu((Y(
o psbP:=4,.)[Fig.d3.18] R On,gdSlo((d
 ( -oedocSwingi._y:dociNod,(% ,ep.e.pnie)_eSfayiSewhe pxSwingiumooC=eiaanodeS=aSwingi.pop()o'sui B ni_ep ,ep.e.goal_aw:vMutd ..ner(ld mooC=eiaal c.EGAD!''utd 
heckn,gdiwxutd ..ner(u t1 tutSlo((dd1)an._tT|wwwwSlo((d[utd ..ner(fs=)v e p)an._tT|wwwwSwingi.nxOo.dMutd .nxpandcp ,ep.elooC=
ooC=ie[0([rp=4,m
,urobread.l_n_eLa_graph_se)nch(p ,ep.e)umooC=rSe)nch thiesha Q)sDit ntd aribD(
o pe)nch treeO _eLaS [p 74] On,gdie[0([rgraph_se)nch(p ,ep.e, FIFOQueri()mooC=
fLiekwpth_n_eLa_graph_se)nch(p ,ep.e)umooC=rSe)nch thiedee.eit ntd aribD(
o pe)nch treeO _eLaS [p 74] On,gdie[0([rgraph_se)nch(p ,ep.e, Stack()f,r,urokwpth_limM:ed_se)nch(p ,ep.e, limM:=50tecSex[r[Fig.d3.12]ahinog,urorec0(srve_dlsMutd ,fp ,ep.e, limM:ld1)an._tT|cutoff_vcc0(raca
i,ips={ dis# S_i_ep ,ep.e.goal_aw:vMutd ..ner(ld1)an._tT|wwwwcsC kSAutd 
heckn,gdttiwxutd .kwpth
 = limM:d1)an._tT|wwwwcsC kSA'cutoff'
heckn,gdttohumooC=eiaal c.PB11.uSSessoruiSAutd .nxpandcp ,ep.elumooC=eiaal c.iv(lresosaL=Drec0(srve_dlsMsuSSessor,.p ,ep.e, limM:lmooC=eiaal c.iv(liflresosaL==A'cutoff':ayiSeittttttttttttiSecutoff_vcc0(raca
iv e p)an._tT|wwwwn,gdttiwxresosaL!, 
 pr('P')) x') ic._tT|wwwwcsC kSAcssosa,l c.iv(liflcutoff_vcc0(racd1)an._tT|wwwwcsC kSA'cutoff'
heckn,gdttohumooC=eiaal c.ie[0([rp=4,ml c.# Bodyp=fakwpth_limM:ed_se)nch:On,gdie[0([rrec0(srve_dlsMNod,(% ,ep.e.pnie)_eS,.p ,ep.e, limM:lm
,uroitintorve_dee.e )sd_se)nch(p ,ep.e)umooC=r[Fig.d3.13] On,gdS   kwpth
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boyan_psbP:=qlry('RSTCSDEIAEGNLRPEATESMSSID')c
,uro% i "_bogglr(poardtecSex[rPx, r,(
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bread.l_n_eLa_aree_se)nch(ab).ntateo==> "B'
bread.l_n_eLa_graph_se)nch(ab).ntateo==> "B'
kwpth_n_eLa_graph_se)nch(ab).ntateo==> "B'
itintorve_dee.e )sd_se)nch(ab).ntateo==> "B'
kwpth_limM:ed_se)nch(ab).ntateo==> "B'
V1440_se)nch(ab).ntateo==> "B'
[utd ..ner(lS    td B e V1440_se)nch(ab)..t.lc(] ==> ['By( "Py( "Ry( "Sy(''A']
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board =oqlry('SARTELNID')c% i "_bogglr(poardtaf0=.BogglrF(vc r(poardtaqdo( ) ==> 206
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 (tropwn-,crcsotn uths sAgr "(Agr ")ecSex[rAndagr "=tla"{cVoo((ssan,VSerim ax'Visry"pcigncr4s CletpinrecQs.ahinog,uroi[(vseSOMutru,rVSerimtld1)an._tT|Agr ".i[(vseSOMutru(ughesdaooneoeepropwn-
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 = loc_AuwP.ogfLi'Righu''P')) x') ic.ttiwxlocv_DDD
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r,elyhiC) wwwwwiwxmtd l[loc_A] ==Amtd l[loc_B] ==A'Clean'uwP.ogfLi'NoOp''P')) x') ic.ttiwxpnerus ==A'Dir"y'uwP.ogfLi'Suck''P')) x') ic.ttiwxlocv_DDD
 = loc_AuwP.ogfLi'Righu''P')) x') ic.ttiwxlocv_DDD
 = loc_BuwP.ogfLi'Lefu''P')) x')neoeepropwn-
 (tropwn-,P')) x')a  edgar coied'pa1' at'}ofpcSexc;kargM frep  ( 4sot)
hhhhoadrapfc rea gEs'prk"icrcsotn Environe  "d1)an."g.A __ract csotn re._e uAL4s Cn Environe  ". i'Real' Environe  " csotnesOn,gdinh
ritkti1' atit.)Your Environe  " oslettypical>yoneei;iPe"=pp.e  "d1)an._tT|pinrecQ:yyyyyyyyyyyDef  D (
o perrecQ s a.PCnuagr "=ilts.mooC=eiaaexecute_aSerim:yyyyDef  D (
o effSc s
l,sexecut4s Cn VSerim.mooC=eiaaedoc x'))))))))))))AlsP uspoSOstheDagr ".terf[s]asDl_slot.mooC=Th
denvirone  " keepsoT qlryuvwx.obj4sop{)her.agr "s (whedanitox subse"mooC=vwx.obj4sop)..t)danagr "=hdnatu.terf[s]asDl_slot,fi
ie)_eiz(t;iPe0.1)an.t)danobj4sonhdnatu.locv_DDD
slot,feve.cthoughagrep environe  "sDmayrut"leiaaneei;itit.o1ahapSt",uros (vseSOMutru,)('P')) x')p +[robj4sop{ ([]; neoeeagr "s =C[]OrpSt obj4so_csotnes =C[] ## Llryuvwxcsotnes tla"{cCkSgo=ivtooenvirone  "mapSt",uroperrecQMutru,rVgr ")ec	rueC kSA(
o perrecQ s a.Pucidagr "=iltsaat=s itopoi ". OvIcrid,=itit.oelyhiC) wa __ract()ohinog,uroexecute_aSerimMutru,rVgr "nsxSerim)d1)an._tT|rChangie,BgWworldatrureflect=s itoVSerim. OvIcrid,=itit.oelyhiC) wa __ract()ohinog,urod ooosa_locv_DDDMutru,robj4sold1	"D ooosaxlocv_DDD
oocp f()ox uewnobj4sonosyadunsar noiac locv_DDD."elyhiC) wP.ogfLip=4,m
inog,uroexogr ous_chth>icutruld1	rIfis 
r,=itospon neousachth>inibD(
o world,rovIcrid,=itit.oe	p(R crinog,urois_d=4,cutruld1)an._tT|rByod ooosa,.we'r,=d=4, whe.cwidcan't(fijara livisagr "."elyhiC) wS   agr " h Aneoeeagr "s:elyhiC) wwwwwiwxagr ".is_alivicduwP.ogfLi,ips={ dis# S_reC kSAv e mrinog,urostepcutruld1	r""RubD(
o environe  "
S   on(Y(iIpostep. Ifis 

	aSerims
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	do.C) nts 
r,=Cdco(vtintSerims
betweenxs 
"pcyou'[(v eei;iP
	ovIcrid,=ititLiethod.o1ah	i_enotwp +[ris_d=4,c(:elyhiC) wwwwwtSerims
=C[agr ".tropwn-(p +[rperrecQMVgr ")fayiSeittttttttttttttt) wS   agr " h Aneoeeagr "s]'P')) x') ic.S   (agr "nsxSerim) h Azipcutrueagr "s,rVSerimtld1		utrueexecute_aSerimMagr "nsxSerim)'P')) x') ic.utrueexogr ous_chth>ic)ohinog,urorunMutru,f.neps=1000ld1	r""RubD(
o Environe  "
S   g_s__Auui.vTavwx(iIpostept.o1ah	SB11.tep ox 'th>:nptept(:elyhiC) wwwwwiwxp +[ris_d=4,c(:.P.ogfLOn,gdanrt ic.utruestepc)ohinog,uroadd_obj4soMutru,robj4so, locv_DDD=p=4,ld1	rg.Add,Tn obj4sontoD(
o environe  ",i pt 4s ibs locv_DDD.)AlsP keep
	_rackavwxobj4sop{s a.PCde agr "s.  Sho_(nn't(neei;iPeovIcrid,=itit.o1ah	obj4so.locv_DDD
 xlocv_DDD
B11.trued ooosa_locv_DDDMobj4sol
	p +[robj4sop._y:dociobj4sol
	i_ei p 4spsDl(obj4so, Agr ")ecSex[[[[[[[[[obj4so.terf[s]asDl_=)0o'sui B n ic.utrueagr "s._y:dociobj4sol
	P.ogfLiiloeo'suicrcsotn XYEnvirone  "(Environe  ")ecSex[rg.T,alucsotn i])S   environe  "sDoSAT 2Dcp f4,, osyadlocv_DDD]cSex[labeleedtby (x, y)opoi "s,reitdaeudiscP.oe)   ccntinuous.T|Agr "sughespinreDveaobj4sop{osyaiSAa=rndius.T|t)danagr "=ibD(
o environe  "ugheshdnatu.locv_DDD
slotewhedansho_(nv1eatulocv_DDD
suSladna(0( 1t(ayiSe)hertu.Vld4s slot,fwhedansho_(nv1eatullryuvwxobj4sop{s a.PCdeugheshe(nvo1ahapSt",uros (vseSOMutru,fosdth=10,.heighu=10)ecSex[[[[[uspoSOMutru,robj4sos=[]rvagr "s=[]rvosdth=osdth,.heighu=heighulhapSt",uroobj4sos_aoMutru,rlocv_DDDld1)an._tT|rueC kSATllxobj4sop{nx2Selyuatiadg_s__Alocv_DDD."elyhiC) wP.ogfLi[obj
S   objdibDp +[robj4sop{iroobj.locv_DDD
 = locv_DDD]hapSt",uroobj4sos_ DarMutru,rlocv_DDD,=rndiusld1)an._tT|rueC kSATllxobj4sop{osyaiSArndiusuvwxqocv_DDD."elyhiC) wPndius2s=)'tdiusu*)'tdiuselyhiC) wP.ogfLi[obj
S   objdibDp +[robj4sopayiSeitttttttttttirokiispsDl2(locv_DDD,fobj.locv_DDD) <=gPndius2]mapSt",uroperrecQMutru,rVgr ")ec)an._tT|rByod ooosa,.agr "=tinre_s_toobj4sop{osyaiSArndiusur."elyhiC) wP.ogfLi[p +[robj4so_perrecQMobj,rVgr ")ayiSeitttttttttttS   objdibDp +[robj4sop_ DarMVgr ")]ohinog,uroexecute_aSerimMutru,rVgr "nsxSerim)d1)an._tT|iwxac_DDD
 = 'TgfLRighu':elyhiC) wwwwwtgr ".ead4s = ogfL_ead4s(tgr ".ead4s, -1(mooC=eiaattiwxac_DDD
 = 'TgfLLefu':elyhiC) wwwwwtgr ".ead4s = ogfL_ead4s(tgr ".ead4s, +1(mooC=eiaattiwxac_DDD
 = 'Forward':elyhiC) wwwwwp +[rmovI_toMagr "nsvest)C_add(tgr ".ead4s, tgr ".locv_DDD)(mooC=eiaattiwxac_DDD
 = 'Grab'ecSex[[[[[[[[[objs
=C[obj
S   objdibDp +[robj4sop_aoMtgr ".locv_DDD)ayiSeitttttttttttttttiroobj.is_pwnba >_(Vgr ")]ottttttttttttiroobjsumooC=eiaaedoc x')tgr ".Vld4s._y:dociobjsO0 (mooC=eiaattiwxac_DDD
 = 'Releaie':elyhiC) wwwwwiwxagr ".Vld4sumooC=eiaaedoc x')tgr ".Vld4s.pop()oedoc x')tgr ".bumpt=u,ips={bis    biobj4so_perrecQMutru,robj,rVgr ")e #??? Sho_(nSgo=iPeobj4so?1)an._tT|rueC kSA(
o perrecQ S   teitoobj4so."elyhiC) wP.ogfLiobj.__4sotn__.__rsIp__ohinog,urod ooosa_locv_DDDMutru,robj4sold1lyhiC) wP.ogfLia'ths stLto_emap +[rwidth),)'ths stLto_emap +[rheighu))ohinog,uromovI_toMobj4so, de4v_DDDld1)an._tT|rMove,Tn obj4sontoDx uewnqocv_DDD."elyhiC) whinog,uroadd_obj4soMutru,robj4so, locv_DDD=(1( 1l(:elyhiC) wEnvirone  ".add_obj4soMutru,robj4so, locv_DDD)oedoc x')obj4so.Vld4s =)[]elyhiC) wobj4so.eldit(p=4,ml c.C) wp +[robj4sop._y:dociobj4sol
hinog,uroadd_wTlla(utruld1)an._tT|rPutewTllaPCdEunditenaefiiro periIpt r0ounx,o pwid."elyhiC) wS   x ox 'th>:np +[rwidth):elyhiC) wwwwwp +[radd_obj4soMWall(), (x( 0))'P')) x') ic.utrueadd_obj4soMWall(), (x( p +[rheighu-1S)'P')) x')S   y ox 'th>:np +[rheighuld1)an._tT| ic.utrueadd_obj4soMWall(), (0, y))'P')) x') ic.utrueadd_obj4soMWall(), (p +[rwidth-1, y))'
,uroogfL_ead4s(utru,read4s, inc,mooC=eiaaedoc x'))ead4ss=[(1( 0),a(0( 1t( (-1( 0),a(0( -1S])ecSex[rReC kSA(
o ead4s toD(
o leffv(inc=+1)    rDDDf0(inc=-1S ox ead4ss.e'P'))ie[0([read4ss[(ead4ss.(vc x(ead4s)s+ inc) % qdo(ead4ss)]))m
  edgar coied'pa1' at'}ofpcSexc;kargM frep  ( 4sot)
hhhhoadrapfc rea gEs'prk"ic## VacuusWenvirone  "icrcsotn TrivialVacuusEnvirone  "(Environe  ")ecSex[rg.T,aluenvirone  " asstwo locv_DDD],sAs)herB..t)dancanvbe Dir"y    Clean.mooC=Th
dagr "=tinre_s_toibs locv_DDD.)hertle locv_DDD'sontatus.TT,alusers_toasayiSe)hDnxa=nat0ounhow;iPe"=pp.e  "ox s"=pp.wEnvirone  ".o1ahapSt",uros (vseSOMutru(:elyhiC) wEnvirone  ".i[(vseSOMutru(ughesdaooneoeepnerus =O{loc_Au'ths stLto_ema['Clean',e'Dir"y']l,mooC=eiaaedoc x'))))))))loc_Bu'ths stLto_ema['Clean',e'Dir"y']l}elyhiC) whinog,uroperrecQMutru,rVgr ")ec)an._tT|rRe[0([sstheDagr "'s=locv_DDD,f)hertle locv_DDDxpnerus (Dir"y/Clean)."elyhiC) wP.ogfLiMtgr ".locv_DDD,oneoeepnerus[tgr ".locv_DDD])ohinog,uroexecute_aSerimMutru,rVgr "nsxSerim)d1)an._tT|r"rChangieagr "'s=locv_DDDf)he/   locv_DDD'sontatus;o_rackaterf[s]asDl.mooC=eiaaSscreu10)S   e)dandir"r4seaned;c-1)S   e)danmovI.ello'sui B ni_eac_DDD
 = 'Righu':elyhiC) wwwwwtgr ".locv_DDD
 xloc_BelyhiC) wwwwwtgr ".terf[s]asDl_-=)1elyhiC) wttiwxac_DDD
 = 'Lefu':elyhiC) wwwwwtgr ".locv_DDD
 xloc_AelyhiC) wwwwwtgr ".terf[s]asDl_-=)1elyhiC) wttiwxac_DDD
 = 'Suck':elyhiC) wwwwwiwxp +[rpnerus[tgr ".locv_DDD] ==A'Dir"y'umooC=eiaaedoc x')tgr ".terf[s]asDl_+=)10o'sui B n ic.utruepnerus[tgr ".locv_DDD] =A'Clean'ohinog,urod ooosa_locv_DDDMutru,robj4sold1lyhiC) w"Agr "nBpnese ox eitdaeulocv_DDDf)x'Visry"."elyhiC) wP.ogfLi'ths stLto_ema[loc_A,esoc_B])'
i.(R ODir"(Obj4soldtp(R ci.(R OWall(Obj4soldtp(R cci.(R OVacuusEnvirone  "(XYEnvirone  ")umooC=r"rTcidenvirone  " oun[Ex.d2.12]. Agr "=tinre_s_todir"y    4sean ayiSe)herbumpt(ivtooobpne4se)    not; 2DcdiscP.oe)worldaoununknE  fsiz(;ughespinf[s]asDl_srasure
alu100)S   e)dandir"r4seaned,f)her-1)S  ughese)danC kSA(aken.o1ahinog,uroi[(vseSOMutru,rosdth=10,.heighu=10)ecSex[[[[[XYEnvirone  ".i[(vseSOMutru,fosdth,.heighulughesdaooneoeeadd_wTlla()OrpSt obj4so_csotnes =C[Wall,.Dir", ueflexVacuusAgr ",=uths sVacuusAgr ",mooC=eiaaedoc x')))))))Ta >_Dr_s_nVacuusAgr ", Mtd lBas_dVacuusAgr "]mapSt",uroperrecQMutru,rVgr ")ec)an._tT|r"rTcidperrecQ itox tuplruvwx('Dir"y'    'Clean',e'Bump'    'p=4,').mooC=eiaaUnlikertle TrivialVacuusEnvirone  ", locv_DDD  rv
OT=tinre_s_m.(R On,gdanrtinerus =Owiw_(p +[rfioc_aoMDir", tgr ".locv_DDD),e'Dir"y',e'Clean')On,gdanrtbumpt=uiw_(tgr ".bump,e'Bump', 'p=4,')elyhiC) wP.ogfLiMinerus,tbump)ohinog,uroexecute_aSerimMutru,rVgr "nsxSerim)d1)an._tT|iwxac_DDD
 = 'Suck':elyhiC) wwwwwiwxp +[rfioc_aoMDir", tgr ".locv_DDD)umooC=eiaaedoc x')tgr ".terf[s]asDl_+=)100o'sui B ntgr ".terf[s]asDl_-=)1elyhiC) wXYEnvirone  ".execute_aSerimMutru,rVgr "nsxSerim)ma  edgar coied'pa1' at'}ofpcSexc;kargM frep  ( 4sot)
hhhhoadrapfc rea gEs'prk"icrcsotn S"=pp.ueflexAgr "(Agr ")ecSex[rg.T,aluagr "=thk,soVSerim bas_dnsole>yooSA(
o perrecQ.L[Fig.d2.13]o1ahapSt",uros (vseSOMutru,f_uats,o(vtinpP.o[(vprmld1)an._tT|Agr ".i[(vseSOMutru(ughesdaoodero.ropwn-(pinrecQ(:elyhiC) wwwwwntateo=o(vtinpP.o[(vprmipinrecQ(mooC=eiaal c._uats=)'uat_match(uner(,.ruats(mooC=eiaal c.aSerimi=oruat.acerim'P'))eiaaC) wP.ogfLiacerim'P'))eiaaneoeepropwn-
 (tropwn-,ccsotn ueflexAgr "WitdState(Agr ")ecSex[rg.T,aluagr "=thk,soVSerim bas_dnoauocidperrecQ xao, ner(.L[Fig.d2.16]o1ahapSt",uros (vseSOMutru,f_uats,oudpate_.ner(ld1)an._tT|Agr ".i[(vseSOMutru(ughesdaoonner(,.aSerimi=op=4,, p=4,ml c.C) wdero.ropwn-(pinrecQ(:elyhiC) wwwwwntateo=ouspoSO_.ner((nner(,.aSerim,_pinrecQ(mooC=eiaal c._uats=)'uat_match(uner(,.ruats(mooC=eiaal c.aSerimi=oruat.acerim'P'))eiaaC) wP.ogfLiacerim'P'))eiaaneoeepropwn-
 (tropwn-,c  edgar coied'pa1' at'}ofpcSexc;kargM frep  ( 4sot)
hhhhoadrapfc rea gEs'prk"ic## TcidWumpus Worldcrcsotn Gold(Obj4soldtp(R ci.(R OPi"(Obj4soldtp(R ci.(R OArrow(Obj4soldtp(R ci.(R OWumpus(Agr ")etp(R ci.(R OExplcrer(Agr ")etp(R cci.(R OWumpusEnvirone  "(XYEnvirone  ")umooC=obj4so_csotnes =C[Wall,.Gold,OPi",OArrow,OWumpus,OExplcrer]hinog,uroi[(vseSOMutru,rosdth=10,.heighu=10)ecSex[[[[[XYEnvirone  ".i[(vseSOMutru,fosdth,.heighulughesdaooneoeeadd_wTlla()Odaoo## Neeitox lotevwxworki...mOdaooa  edgar coied'pa1' at'}ofpcSexc;kargM frep  ( 4sot)
hhhhoadrapfc rea gEs'prk"icr,uroSex,)nt_agr "s(EnvFast)Cy, Agr "Fast)Cits,rn=10,..neps=1000ld1Sex[rg.Soenhow;well n)dan=wxp veralvagr "swdoi e ukp 4spsDlsuvwxTn environe  ".mooC=Potn iSAa=fast)Cy (SonSOaast)C))S   environe  "s,axao, pveralvS   agr "s.mooC=Createoukp 4spsDlsuvwx(
o environe  ",ixao,runin)danagr "=ibDcopilsuvwxughese)danon(YSB11.teps.aueC kSAT qlryuvwx(sgr "nsxverage-sscre) tuplrp (R On,gdenvs =C[EnvFast)Cy()en=nditox 'th>:nn)egM[ ss.ogfLi[(A,eaw:v_agr "(A,e.tepspccopy.dee.copy(envs))( mooC=eiaal c.n=ndA ox Agr "Fast)Cits],r,uroaw:v_agr "(Agr "Fast)Cy,e.tepspcenvs)ecSex[rReC kSA(
o srannsscreuvwxrunn4s Cn Vgr "=ibDn)dan=wx(
o envsnsfo_o.teps On,gdtotal =)0o'suiS   env=ibDnnvs:elyhiC) wagr "== Agr "Fast)Cy()oedoc x')nnveadd_obj4soMVgr ")ayiSeitttnnverunMutept(ayiSeittttotal +=ntgr ".terf[s]asDlgM[ ss.ogfLifloaoMtotal)/qdo(envs)ma  edgar coied'pa1' at'}ofpcSexc;kargM frep  ( 4sot)
hhhhoadrapfc rea gEs'prk"icr_docexL=Do1ahaL=DueflexVacuusAgr "()
a.tropwn-,a.tropwn-((loc_A,e'Clean')) ==> 'Righu''a.tropwn-((loc_B,e'Clean')) ==> 'Lefu''a.tropwn-((loc_A,e'Dir"y')) ==> 'Suck''a.tropwn-((loc_A,e'Dir"y')) ==> 'Suck''
is=)v ivialVacuusEnvirone  "()
eeadd_obj4soMTraceAgr "(Mtd lBas_dVacuusAgr "(tS)'eerunM5)'m## Environe  "s,axao, rep agr "s,rVdcorths siz(t,_gr,(
o psbP:widcanm## g_s_ itox 'th>:
l,sexpec e _pscres.C) nts isstsbP:fails,o(trdoe m## notwneSessarily srannsoieth==n alrwrong.
envs =C[v ivialVacuusEnvirone  "()en=nditox 'th>:n100)eg,uroaw:vv(AduwP.ogfLiaw:v_agr "(A,e4pccopy.dee.copy(envs)) 
aw:vv(Mtd lBas_dVacuusAgr ")
(7 < _ < 11) ==> v e maw:vv(ueflexVacuusAgr ")
(5 < _ < 9) ==> v e maw:vv(Ta >_Dr_s_nVacuusAgr ")
(2 < _ < 6) ==> v e maw:vv(uths sVacuusAgr ")
(0.5 < _ < 3) ==> v e mo1aha  edgar coied'pa1' at'}ofpcSexc;kargM frep  ( 4sot)
hhhhoadrapfc rea gEs'prk"ic# GUI -nGrnphical User Ivtinff()on=ndEnvirone  "sc#  ntyouedoinotw.pdatTk(vtinkp 4spleed, eitdaeu  _Ax uewnp 4spledp)danl,sPythim'# (Tk(vtinkpnBpnendard  e p[(v ew,releaies( y)C d leSOstheDneit ounx,alu e p'# a6 _mudd>_kthroughaosyaormpa GUI.mOt"=pi(x'Tk(vtinkasstkanMuSZIgeTka"=pi(x'PhotoIget"=pi(x'Igetrcsotn EnvFwn-e(tk.Fwn-eSumooC=,uroi[(vseSOMutru,fenv,eaitle='AIMA GUI', cellosdth=50,rn=10)ecSex[[[[[uspoSOMutru,rcellosdths=)cellosdth,xrunn4s=,ips=, delay=1.0lughesdaooneoeemi=om'P'))eiaaneoeerunn4s =)0o'sui B np +[rdelay =)1.0o'sui B np +[renv==fenvayiSeittttk.Fwn-e.i[(vseSOMutru,fp=4,, osdth=(cellosdth+2)*n,.heighu=(cellosdth+2)*n 'P')) x')p +[rwinfo_toplpvel().aitle(aitle 'P')) x')# ToolbarayiSeittttoolbar = ok.Fwn-eMutru,f_elief='raiohd', bd=2)ayiSeittttoolbar.pack(si
s='top',r e l='x')'P')) x')S   tx"nscmd  e [('Step >',i pve nnveutep),a('RubD>>',i pve runl,mooC=eiaaedoc x'))))))))))('Stop [ ]',oneoeepnop)]:elyhiC) wwwwwok.Button(toolbar,eawxt=tx"nscom]asd=cmd).pack(si
s='leff')'P')) x')ok.Label(toolbar,eawxt='Delay').pack(si
s='leff')'P')) x')scale = ok.Scale(toolbar,e)Citnt='h',r MuS_=0.0,rto=10,.neiolu_DDD=0.5,mooC=eiaaedoc x'))))))))))com]asd=s___Newd:i ptatsl(p +[(''delay',rdt 'P')) x')pcale.se"(p +[rdelay 'P')) x')pcale.pack(si
s='leff')'P')) x')# Canvap)S   draw4s im'P'))eiaaneoeecanvap = ok.CanvapMutru,rosdth=(cellosdth+1)*n,mooC=eiaaedoc x')))))))))))))))))heighu=(cellosdth+1)*n,ebackgdEund="white" 'P')) x')p +[rcanvap bioci'',i pve leff)i## Wla"{sho_(nvx,aludo?'P')) x')p +[rcanvap bioci'',i pve ndseSobj4sop)P')) x')'P')) x')p +[rcanvap bioci'',i pve add_obj4sofayiSeitttiwxcellosdth:elyhiC) wwwwwcL=DneoeecanvapmooC=eiaal c.n=nditox 'th>:n1,rn+1(:elyhiC) wwwwwwwwwc.create_l  D(0( i*cellosdth,xn*cellosdth,xi*cellosdth)ayiSeitttttttttttc.create_l  D(i*cellosdth,x0( i*cellosdth,xn*cellosdth)ayiSeitttttttttttc.pack(expasd=1,r e l='both')ittttttttttt'P'))eiaaneoeepack(l,creiaa,urobackgdEund_runMutru)d1)an._tT|iwxneoeerunn4sd1)an._tT| ic.utruennveutep(telyhiC) wwwwwms =s(vt(1000 * max(floaoMp +[rdelay ,x0.5))'P')) x') ic.utrueaftin(ms,)p +[rbackgdEund_run)ohinog,urorunMutruld1)an._tT|px, r,'run''P')) x')neoeerunn4s =)1'P')) x')neoeebackgdEund_runMtohinog,urosnopMutruld1)an._tT|px, r,'snop''P')) x')neoeerunn4s =)0o'sui B nhinog,uroleffcp +[,feve.tld1)an._tT|px, r,'leffvati',feve.t.x/50,reve.t.y/50ohinog,uroedseSobj4sopcp +[,feve.tld1)an._tT|r"rChoo(( Tn obj4sonosyaiSArndiusu)heredseoibs fieldp (R On,gdanrtp(R crinog,uroadd_obj4soMutru,reve.tld1)an._tT|## Tcin i])suppo((d
tP pop up=CLienuBvwxObj4soncsotnes;tyoueSVoo(( s cxoneelyhiC) w## Youewant
tP pu"=ibD(
is squCdc.C=p=twwork)sd yet.'lyhiC) wtx,rty =)eve.t.x +)p +[rwinfo_roox(), eve.t.y +)p +[rwinfo_rooy()oedoc x')px,rpy =)eve.t.x/50,reve.t.y/50oedoc x')x, y
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